U.S. patent application number 16/382136 was filed with the patent office on 2019-10-17 for geographic map updating methods and systems.
The applicant listed for this patent is SeeScan, Inc.. Invention is credited to Michael J. Martin, Mark S. Olsson.
Application Number | 20190317239 16/382136 |
Document ID | / |
Family ID | 68160732 |
Filed Date | 2019-10-17 |
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United States Patent
Application |
20190317239 |
Kind Code |
A1 |
Olsson; Mark S. ; et
al. |
October 17, 2019 |
GEOGRAPHIC MAP UPDATING METHODS AND SYSTEMS
Abstract
Methods and systems for updating digital maps by refining map
feature positions and improving map position accuracy are
disclosed. One embodiment includes identifying a point of
interest's position data and updating the map data within a map
region surrounding the point of interest.
Inventors: |
Olsson; Mark S.; (La Jolla,
CA) ; Martin; Michael J.; (San Diego, CA) |
|
Applicant: |
Name |
City |
State |
Country |
Type |
SeeScan, Inc. |
San Diego |
CA |
US |
|
|
Family ID: |
68160732 |
Appl. No.: |
16/382136 |
Filed: |
April 11, 2019 |
Related U.S. Patent Documents
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Application
Number |
Filing Date |
Patent Number |
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62656259 |
Apr 11, 2018 |
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Current U.S.
Class: |
1/1 |
Current CPC
Class: |
G01C 21/32 20130101;
G01V 3/12 20130101; G01V 3/165 20130101 |
International
Class: |
G01V 3/12 20060101
G01V003/12; G01C 21/32 20060101 G01C021/32 |
Claims
1. A geographic map updating system, comprising: a base map
element, including a data representation of an area displaying
features thereof; and an update element, comprising: a geographic
feature identification element to identify geographic features
coinciding with those of the base map element; a position element
for determining a position of the identified geographic features
based on provided positional data; a processing element for
comparing the base map element data and the update element data to
determine and generate an updated map; and a non-transitory
electronic data storage element for storing the base map element
data, update element data, and corresponding updated map data.
2. The system of claim 1, wherein the position element includes a
global navigation satellite system receiver for providing the
positional data to the position element.
3. The system of claim 1, wherein the position element includes an
inertial navigation system for providing the positional data to the
position element.
4. The system of claim 1, wherein the position element includes a
rangefinder system for providing the positional data to the
position element.
5. The system of claim 1, wherein the base map element includes one
or more satellite or other aerial photographic images, image tiles,
or other feature regions organized so as to be joined together to
represent all or a portion of the Earth's surface.
6. The system of claim 1, wherein the update element includes a
mapping buried utility locator, comprising: a locator housing; a
front end subsystem, coupled to or disposed in the locator housing,
comprising a plurality of magnetic field antenna arrays and a
receiver circuit coupled thereto, the plurality of antenna arrays
including at least a first antenna array located at a first
position and a second antenna array located at a second position,
spatially separated from the first position, the front end
subsystem configured to receive, simultaneously at the first
position and the second position, an ambient magnetic field
electromagnetic signal; positioning elements, disposed in the
locator housing and coupled to the front end subsystem, comprising
one or more global navigation systems antennas and a receiver
circuitry coupled thereto, which may be or include real time
kinematic (RTK) systems, generating location data; a geographic
feature identification element, generating a location for
geographic features within the work environment; a processing
element, disposed in the locator housing and coupled to the front
end subsystem, programmed to process a first measurement of the
ambient electromagnetic signal at the first position, and a second
measurement of the ambient electromagnetic signal at the second
position, and determine, based at least in part on the first
measurement and the second measurement, information pertaining to
the buried conductor corresponding to location data generated by
the positioning elements as well as geographic feature locations;
and a non-transitory electronic memory coupled to the processing
element to store the determined information pertaining to the
buried conductor; wherein the ambient electromagnetic signal
includes a combination of a direct magnetic field signal emitted
from a radio transmitting antenna and a magnetic field signal
emitted from the buried conductor resulting from electromagnetic
coupling of the direct magnetic field signal to the buried
conductor.
7. The system of claim 1, wherein the update element includes a
dipole tracked distance measuring system, comprising: a signal
tracking device, comprising: one or more magnetic field antenna
arrays; one or more positioning elements for determining the
location of the signal tracking element in three dimensional space;
a processing element for processing received dipole signals and
data signals from the tracked distance measuring device; a data
storage element for storing geographic feature location data and
other signal data; and a tracked distance measuring device,
comprising: a body; a rangefinder element for measuring distance to
a geographic feature; an alternating current (AC) signal generator;
a magnetic field dipole antenna; and an actuator for initiating
generation of an electromagnetic signal in conjunction with
measuring distance; wherein the electromagnetic dipole signal is
generated in conjunction with measuring of a distance by the
rangefinder element and wherein information associated with a
position of the tracked distance measuring device is determined in
the processing element of the signal tracking element based on
receiving and processing the electromagnetic dipole signal in the
one or more magnetic field antenna arrays.
8. A processor implemented method for updating the position of a
geographic feature within a base map including: identifying one or
more geographic features; determining the position of a reference
point along the one or more geographic features relative to the
Earth's surface; correlating the measured geographic feature to a
corresponding featured digitally represented within a base map;
determining the difference in position between the reference point
of base map geographic features and corresponding reference point
of the geographic feature measured along the Earth's surface;
translating one or more image tiles or other feature regions
containing each geographic feature based on updated geographic
feature position data; and storing the updated base map containing
the translated map update region and geographic feature in a
non-transitory electronic memory.
9. The method of claim 8, further comprising providing a visual
display of the updated base map containing the translated map
update region and geographic feature on an electronic display
device.
10. The method of claim 8, wherein rubber-sheeting signal
processing is used on data of the one or more translated image
tiles or other feature regions to smooth and seamlessly join the
translated image tiles or other feature regions and contiguous
image tiles or other feature regions of the base map, wherein the
updated position of the geographic feature therein are
maintained.
11. The method of claim 8, wherein photographs or other imagery of
the identified one or more geographic features is locally
generated.
12. The method of claim 8, wherein each image tile is an individual
photograph or image from a base map comprised of a multitude of
seamlessly stitched together satellite or aerial photographs or
other images representing the Earth's surface.
13. The method of claim 8, wherein the image tile or other feature
regions is a predefined region surrounding each geographic
feature.
14. The method of claim 8, wherein the image tile or other feature
regions is a region surrounding each geographic feature determined
by a user.
15. The method of claim 8, wherein the image tile or other feature
regions is a region surrounding each geographic feature determined
by a feature detection algorithm.
16. The method of claim 8, wherein the image tile or tiles are
replaced by data of a new photograph or image tile of the
geographic feature and surrounding area that is generated when
determining the updated position of the geographic feature.
17. The method of claim 8, wherein a pattern recognition or other
machine learning algorithm is used to identify coinciding
geographic features.
18. The method of claim 8, wherein reference points for geographic
features are located in a physically separate location from their
corresponding geographic feature.
19. A processor implemented method for geographic map updating via
a utility locating and mapping system including: performing a
utility locating and mapping operation wherein one or more
geographic features are identified and the positions thereof are
determined; generating corresponding utility locating and mapping
data including one or more of surface position coordinate and
buried utility depth; associating the utility locating and mapping
data and geographic feature position data; determining the
difference in position between the newly identified geographic
features from the utility locating and mapping data and the same
geographic features within a base map; translating the image tiles
or other feature regions containing the geographic feature on the
base map based on updated geographic feature position data;
correlating the utility locating and mapping data to the update
geographic feature position(s) within the updated base map; and
storing the updated base map in a non-transitory electronic
memory.
20. The method of claim 19, further comprising providing a visual
display of the updated base map on an electronic display
device.
21. The method of claim 19, further comprising applying
rubber-sheeting signal processing to the one or more translated
image tiles or other feature regions to smooth and seamlessly join
the translated image tiles or other feature regions and contiguous
image tiles or other feature regions of the base map while
maintaining the updated position of the geographic feature
therein.
22. The method of claim 19, wherein the utility locating and
mapping data generated by the locator is indexed to one or more
updated geographic feature positions and stored in a non-transitory
electronic memory.
23. The method of claim 22, wherein utility locating and mapping
data is indexed relative to the updated map.
24. A processor implemented method for geographic map data
updating, comprising: determining data corresponding to position
updates for one or more geographic features within a mapped area;
determining data corresponding to the geographic features with a
base map; aligning data corresponding to the geographic features
within base map to data corresponding to the geographic features in
the updated map area; geometrically modifying image tile or other
feature region data to provide smooth and continuous boundaries to
neighboring image tiles neighboring feature regions; and storing
the geometrically modified image time or other feature region data
in a non-transitory electronic memory.
25. The method of claim 24, further comprising providing a visual
display of a map including at least the updated tile or base map on
an electronic display device.
26. The method of claim 24 further comprising generating a quality
metric describing how accurately the base map or image tiles or
other feature regions within a base map align with the updated map
data.
27. A processor implemented method for geographic map data
updating, comprising: determining position updates for data
defining one or more geographic features within a mapped area;
generating translation vectors data based on the position updates;
determining a best fit position for the geographic features data
and the base map data by processing the translation vectors data
from the position updates using a best fit algorithm; translating
data corresponding to base map data or data corresponding to
regions within the base map surrounding the geographic features
based on the determined best fit to generate an updated base map;
and storing the data corresponding to the updated base map in a
non-transitory memory.
28. The method of claim 27, further comprising providing a visual
display of the updated base map on an electronic display
device.
29. The method of claim 27, wherein the translated region
surrounding the geographic features is determined by selection
input data provided by a user.
30. The method of claim 27, wherein the translated region
surrounding the geographic features is determined by a signal
processing algorithm.
31. A processor implemented method for aligning and improving the
precision of map data from geographically updated base map data,
comprising: identifying data corresponding to ones of a plurality
of geographic features in a mapped area; determining position
updates for the plurality of geographic features data; determining
geographic map update data from a base map based on the determined
position updates; associating the geographic map update data with
the base map; determining one or more geographic features within
the updated base map correlating to features corresponding to data
within one or more other maps; determining data defining one or
more translation vectors for the one or more other maps data based
at least in part on alignment of correlating geographic features
between the updated base map and the one or more other maps data;
translating positioning data in the one or more other maps data
based on the data defining the one or more translation vectors; and
storing the geographic map update data and data associated with the
translation of the one or more other maps in an electronic
non-transitory memory.
32. The method of claim 31, further comprising providing a visual
display of the translated one or more other maps on a visual
display device.
33. The method of claim 31, further comprising providing a visual
display of an update of the mapped area based on the geographic map
update data from the base map.
Description
FIELD
[0001] This disclosure relates generally to methods and systems for
refining map feature positions and improving map position accuracy
in digital maps. More specifically, but not exclusively, the
disclosure relates to methods and systems for updating and refining
map feature positions and improving map position accuracy in
mapping-based utility locating systems.
BACKGROUND
[0002] In typical mapping systems, images or other renderings of an
area may be associated with locations on the Earth. For instance,
an aerial photograph of a house may be assigned GPS coordinates
corresponding to a general location on the Earth's surface.
Likewise, other geographic feature may be assigned locations
relative to the Earth's surface for various mapping purposes. In
most applications, precision in the location of such geographic
features is neither necessary nor possible. For instance, driving
navigation towards a particular destination address may take a user
in the general proximity of the destination leaving the user to
figure out precisely where to go once generally near to the
destination.
[0003] Additionally, the precision of location of geographic
features may change over time. Movement of tectonic plates,
shifting of ground, and/or other changes within the map environment
may contribute to degrading of geographic feature location
precision over time. Similarly, map position inaccuracies may
result from the technique used in creating the map. For example, a
series of contiguous satellite or other aerial photographs or image
tiles may be joined together to create a map. In creation of such
maps, due to the angles at which the image has been taken,
curvature of the Earth or changes in elevation within each image,
and/or small movements of the camera, may be adjusted for by
rubber-sheeting techniques to distort such images to allow
contiguous image tiles to be seamlessly joined. In some such maps,
geographic features may be distorted, resulting in inaccurate
geographic feature positions and thereby inaccurate maps.
[0004] Maps, as used with utility excavation operations (i.e. when
digging into the ground), require the precise location of gas lines
or other utilities to be known in order to facilitate safe
excavations and avoid costly damage to infrastructure and human
lives. Such maps may require the underground utility location to be
known relative to a precise location on the ground level of the
Earth's surface. Movement of map features and/or inaccurately
mapped geographic features in utility mapping applications may
result in incorrect excavation location and ultimate costly
destruction of infrastructure and death or injury to crews
excavating such utilities.
[0005] The initial generation of some such maps may be particularly
expensive. For instance, maps involving indexing of high resolution
aerial photograph to geographic features on the Earth's surface
that have had their positions determined via real time kinematic
(RTK) satellite navigation or other precise positioning techniques
requires both highly specialized and expensive tools as well as a
great deal of human labor to produce thus resulting in a high cost
to generate such maps. Likewise, rubber-sheeting techniques may
still introduce inaccuracies in the creation of some such maps.
Often, the solution as known in the art is to recreate the map
which may both extremely expensive and labor intensive. Other known
solutions for updating geographic features or other known map
features lack the resolution required for precise mapping
applications such as with utility locating, mapping, and/or
excavation.
[0006] Accordingly, there is a need in the art to address the
above-described as well as other problems related to the creation
and updating of maps, as well as for map systems with improved
location precision relating to both a map itself and geographic or
other features in the map.
SUMMARY
[0007] In accordance with various aspects of this disclosure, a
geographic map updating system may include a base map element and
an update element. The base map element may be or include a
representation of the map area displaying features thereof. The
update element may further include a geographic feature
identification element and one or more positioning elements. The
geographic feature identification element may identify geographic
features (e.g., manhole covers, traffic arrows, painted marks on a
street, and/or other marks or features) within an area on the
Earth's surface coinciding with the same features represented
within the base map element. For instance, the geographic feature
identification element may include a human or artificial
intelligence or like machine learning algorithms identifying a
geographic feature within a mapped area along the Earth's surface
that may, generally through pattern matching or like algorithms, be
matched to features within the base map element of the same area.
The positioning elements may determine the position of the
geographic features identified along the Earth's surface by the
geographic feature identification element. The positioning elements
may include one or more devices or systems for determining the
position of each geographic feature along the Earth's surface. For
instance, a user may direct a laser rangefinder device working in
tandem with global navigation satellite systems (GNSS) to determine
the position of geographic features along the Earth's surface. Such
positioning elements may further include light detection and
ranging (LiDAR), inertial navigation systems (INS), optical
tracking systems, and/or other like devices and systems for
determining positions on the Earth's surface. Such position
elements may generally be achieved through measurement at a point
existing on the geographic feature referred to herein as a
"reference point". For example, this reference point may be or
include the center point of manhole cover, the tip of a traffic
arrow painted on a street, or other point on a geographic feature
that may coincide with the same point within the same feature
within the base map element. The "reference point" may be the
location point (e.g., the laser dot produced by a laser rangefinder
device) in which position of the geographic feature is measured.
The geographic map updating system may further include a processing
element for comparing and updating base map element data according
to update element data. Data may further be stored within a data
storage element.
[0008] In another aspect, the present disclosure may include a
method for updating the position of a geographic feature within a
map. The method may include a step wherein a geographic feature is
identified. In another step, a position measurement at a reference
point of the geographic feature is determined. In some embodiments,
a step may be included wherein photographs or other images of the
geographic feature and surrounding environment may be generated. In
another step, the geographic feature may be correlated to features
representing the geographic feature within the base map. This step
may include the use of pattern recognition, artificial
intelligence, and/or other like algorithms or techniques to match
geographic features between a base map and the updated geographic
feature position data. In another step, the difference in position
between reference points on the newly identified geographic feature
and the same geographic feature within the base map may be
determined. In another step, the image tile(s) or other feature
region(s) containing the geographic feature may be translated based
on the determined reference point position differences. In another
step, the geographic feature position and related mapping data may
be stored and optionally displayed.
[0009] In another aspect, the present disclosure may include a
method for updating the position of a geographic feature within a
map. This method may include a step whereby a utility locating and
mapping operation is performed having one or more geographic
features identified and the positions thereof determined. The
method may further include a step whereby processing of utility
locating and mapping data and geographic feature position data is
performed. In another step, the difference in position between the
geographic feature(s) from the utility locating and mapping data
and coinciding geographic feature(s) within the base map may be
determined. In another step, the image tile(s) or other feature
region(s) containing the geographic feature is translated based on
the updated geographic feature position data. In another step,
rubber-sheeting or like techniques may be used may be used to
distort the boundaries of the image tile(s) or other feature
region(s) allowing the one or more translated image tiles or other
feature regions to seamlessly adjoin with neighboring image tiles
or other feature regions while maintaining the updated position of
the measured geographic feature. The data may further be stored
and/or displayed on one or more devices.
[0010] In another aspect, the present disclosure may include a
geographic map updating method. The geographic map updating method
may include a step wherein position updates for one or more
geographic features within a mapped area may be determined. The
geographic feature position updates may be selectively chosen by a
user and/or through machine algorithms. In another step, geographic
features within base map may be aligned to the geographic feature
positions within the updated map area and the image tile or other
feature regions may be distorted to maintain smooth and continuous
boundaries to neighboring image tiles or other feature regions. In
an optional step, a quality metric may be generated describing how
accurately the base map or image tiles or other feature regions
within a base map align with the updated map data. In another step,
the method may store and optionally display the updated base map
and related data.
[0011] In another aspect, the present disclosure may include
another geographic map updating method. The geographic map updating
method may include a step wherein position updates for one or more
geographic features within a mapped area may be determined. The
geographic feature position updates may be selectively chosen by a
user and/or through machine algorithms. In another step, a best fit
position for the base map may be determined by analyzing
translation vectors from the position updates. In another step, the
base map or regions within the base map surrounding the geographic
features may be translated based on best fit data. In another step,
the method may store and optionally display the updated base map
and related data.
[0012] In another aspect, the present disclosure may include a
method for aligning and improving the precision of additional maps
to a geographically updated base map. The method may include a step
wherein position updates for one or more geographic features within
a mapped area may be determined. The geographic feature position
updates may be selectively chosen by a user and/or through machine
algorithms. In another step, a geographic map update may be
determined for the base map based on the position updates of the
geographic features. In another step, one or more geographic
features within the updated base map correlating to features within
one or more additional maps may be determined each corresponding to
a translation vector. In another step, one or more translation
vectors for additional map(s) may be determined based on alignment
of correlating geographic features. In another step, the one or
more additional maps may be translated based on the one or more
translation vectors. In another step, the method may store and
optionally display the updated and additional map data.
[0013] Various additional aspects, features, and functions are
described below in conjunction with the appended Drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
[0014] The present application may be more fully appreciated in
connection with the following detailed description taken in
conjunction with the accompanying drawings, wherein:
[0015] FIG. 1A is a method describing updating the position of a
geographic feature via a measured reference point.
[0016] FIG. 1B is an illustration of updating a geographic feature
position via translating the image tile containing the feature as
related to the method of FIG. 1A.
[0017] FIG. 1C is an illustration of updating geographic feature
positions wherein the image tile contains multiple geographic
features.
[0018] FIG. 1D is an illustration of a method of updating a
geographic feature position via translating a feature region
containing the feature rather than an image tile using the method
of FIG. 1A.
[0019] FIG. 2A is another method describing updating a geographic
feature's position via a measured reference point.
[0020] FIG. 2B is an illustration of a method of updating a
geographic feature wherein the image tile or other feature regions
is a quantity of space surrounding the geographic feature.
[0021] FIG. 3A is a method for geographic map updating.
[0022] FIG. 3B is an illustration demonstrating the geographic map
updating method of FIG. 3A.
[0023] FIG. 4A is another method for geographic map updating.
[0024] FIG. 4B is illustration demonstrating the geographic map
updating method of FIG. 4A.
[0025] FIG. 5A is a method for updating additional maps based on
features within a geographically updated base map.
[0026] FIG. 5B is an illustration demonstrating the geographic map
updating method of FIG. 5A.
[0027] FIG. 6 is an illustration of an exemplary geographic map
updating system.
[0028] FIG. 7 is an illustration of a utility locating, mapping,
and geographic feature identification system.
[0029] FIG. 8A is a method for geographic map updating using a
utility locating, mapping, and geographic feature identification
system.
[0030] FIG. 8B is an illustration of a utility locating map with a
utility line indexed therein aligning and merging with a base
map.
[0031] FIG. 9 is a diagram of an exemplary system device for
geographic map updating.
[0032] FIG. 10A is an illustration of a geographic map update
wherein the feature region translates to the updated data.
[0033] FIG. 10B is an illustration of a geographic map update
wherein the updated data translates to the feature region.
[0034] FIG. 11 is an exemplary utility map.
[0035] FIG. 12A is a method for geographic map updating to generate
a utility locating map.
[0036] FIG. 12B is an illustration of a base map having at least
one identified geographic feature with associated reference
point.
[0037] FIG. 12C is an illustration of the base map from step 12B
overlaid with utility line position data relative to an updated
position of the geographic feature as determined through a utility
locating and mapping procedure.
[0038] FIG. 12D is the illustration from FIG. 12C with a
translation vector.
[0039] FIG. 12E is an illustration of a utility map having the
geographic feature of the base map translated to the updated
position determined by the utility locating and mapping
procedure.
[0040] FIG. 13A is another method for geographic map updating to
generate a utility locating map.
[0041] FIG. 13B is an illustration of a base map having at least
one identified geographic feature with associated reference
point.
[0042] FIG. 13C is an illustration of the base map from step 13B
overlaid with utility line position data relative to an updated
position of the geographic feature as determined through a utility
locating and mapping procedure.
[0043] FIG. 13D is the illustration from FIG. 13C with a
translation vector.
[0044] FIG. 13E is an illustration of a utility map having the
utility line position determined by the utility locating and
mapping procedure translated to the geographic feature position of
the base map.
[0045] FIG. 14A is another method for geographic map updating
wherein the reference point is physically separated from the
geographic feature.
[0046] FIG. 14B is an illustration of a base map having at least
one identified geographic feature with a reference point separated
from the geographic feature.
[0047] FIG. 14C is an illustration of the base map from step 14B
overlaid with updated data overlaid and having an updated position
of the geographic feature and a predicted updated position for a
corresponding reference point.
[0048] FIG. 14D is the illustration from FIG. 14C with a
translation vector.
[0049] FIG. 14E is an illustration of an updated map wherein the
feature region containing the geographic feature is translated.
DETAILED DESCRIPTION OF EMBODIMENTS
Terminology
[0050] As used herein, the terms "buried objects," "buried assets,"
and "buried utilities" include conductive objects such as water and
sewer lines, power lines, and other buried conductors, as well as
objects located inside walls, between floors in multi-story
buildings, or cast into concrete slabs as well as non-conductive
utilities and electronic marker devices. They further include other
conductive and nonconductive objects disposed below the surface of
the ground. In a typical application a buried object is a pipe,
cable, conduit, wire, or other object buried under the ground
surface, at a depth of from a few centimeters to meters or more,
which has an alternating current flowing in it (the alternating
current generates a corresponding electromagnetic field). In a
locate operation, a user, such as a utility company employee,
construction company employee, homeowner, or other person attempts
to find the utility based on sensing of magnetic fields generated
by the AC current flow in the utility. The sensed information may
be used directly or may be combined with other information to mark
the utility, map the utility (e.g., by surface position as defined
by latitude/longitude or other surface coordinates, and/or also by
depth), and/or for other related purposes.
[0051] As noted above, locating buried utilities or other assets
may be done by receiving electromagnetic signals emitted from the
utilities and then processing these signals in one or more "utility
locator devices", "utility locators", or simply "locators". Utility
locators sense the magnetic field component of the electromagnetic
signal emitted from a flowing AC current and process the signal
accordingly to determine information about the buried object.
Typical locators use one or more horizontal antennas to determine
when the locator is directly above the utility, and then use
vertical or omnidirectional antenna coil arrays to determine depth.
Applicant's more advanced locators use additional antennas, such as
multiple omnidirectional antenna arrays, dodecahedral antenna
arrays, and other advanced techniques and devices, such as those
described in the incorporated applications, to determine additional
information about the buried utilities as well as their associated
environment by measuring and processing multiple magnetic field
signals in two or three orthogonal dimensions and over time and
position.
[0052] As used herein, the term "position" in relation to mapping
refers to a location on the Earth's surface (e.g., latitudinal and
longitudinal world coordinates). Position may, in some mapping
embodiments, include an orientation or heading at that location on
the Earth's surface. In relation to devices that may be used in the
mapping process as well as utility data, "position" may refer to a
location in space, typically in three-dimensional (X, Y, Z
coordinates or their equivalent) space, as well as an orientation
of the source at that location. The orientation may generally refer
to the relative direction or heading which may generally be a
compass direction. In some instances, such as with utility lines
and/or some utility locating devices, "position" may include "pose"
or tilt data of an object in three dimensional space at a
location.
[0053] As used herein, the term "geographic feature" may be a
feature within the mapped area. For instance some common geographic
features may include but are not limited to manhole covers, painted
street elements, intersections between ground surface materials
(e.g., asphalt, concrete, grass, dirt, or other like materials), or
the like. A geographic feature may generally include features that
are naturally existing and recognizable in the area mapped but may
also include features that may be placed or marked upon the ground
surface by a user and further recognizable in the corresponding
imagery of the map area. The correlation of recognition of
geographic features between maps and measured on the Earth's
surface may general include the use of pattern recognition,
artificial intelligence, and/or other machine learning algorithms
or technologies. In utility locating and mapping operations, a
geographic feature may generally be an element of some significance
to locating buried utilities. For instance, such a geographic
feature may be a conductive object or otherwise emit one or more
signals that may be measured by a utility locator device. It is
noted that the measurement of geographic feature positions may be
actualized through measurement at a point on the geographic feature
referred to herein as a "reference point".
[0054] The "reference point" may be or include the center point of
manhole cover, the tip of a traffic arrow painted on a street, or
other point on a geographic feature that may coincide with the same
point within the same feature within the base map element. The
"reference point" may be the location point (e.g., a laser dot
produced by a laser rangefinder device) in which position of the
geographic feature is measured. The reference point may, in some
embodiments, exist in a physically separate location relative to
the geographic feature.
[0055] As used herein, the term "positioning elements" refers to
one or more devices or systems for determining the position of each
geographic feature along the Earth's surface. For instance, a user
may direct a laser rangefinder device working in tandem with global
navigation satellite systems (GNSS) to determine the position of
geographic features along the Earth's surface. Such positioning
elements may further include light detection and ranging (LiDAR),
inertial navigation systems (INS), optical tracking systems, and/or
other like devices and systems for determining positions on the
Earth's surface. Such elements may comprise data representing
particular maps, features on maps, or other associated information.
"Elements" as described herein may also include modules implemented
in hardware and associated software that include electronic
components, processors, and/or associated firmware or software to
implement the associated element functions digitally.
[0056] The geographic features may generally be included in a "base
map" as well as within one or more "image tiles" or other "feature
regions." The "base map" may be a map of a location. Generally, but
not exclusively, the "base map" may be comprised of a series of
contiguous satellite or other aerial photographs or "image tiles"
seamlessly joined together to represent the Earth's surface. The
"image tile" may, in some embodiments, be an area surrounding a
geographic feature that is predefined or user defined or defined by
machine algorithms. The image tile may be the photograph or image
of which the map is comprised containing the geographic feature.
Each image tile may have "image tile boundaries" describing the
limit or dividing lines of each image tile, separating each image
tile from contiguous image tiles. In other embodiments, the image
tile may be a new or otherwise updated photograph or image
containing the geographic feature and surrounding area merged into
another map. In some embodiments, the translated areas may be
"feature regions" each comprising a quantity of space surrounding
each geographic feature instead of the aforementioned image
tiles.
[0057] The term "translation vector" as used herein may describe
the direction and magnitude representing the direction and distance
of the geographic feature translation. The resulting geographic
feature post translation may be referred to herein as "updated
geographic feature." As used herein, the updated geographic feature
may have an "updated geographic feature position" referring to the
translated position of the geographic feature.
[0058] As used herein, the term "related data" may refer to data
representing, calculating, and/or determining base maps, geographic
features, updated geographic features, positions or updated
positions, translation vectors, image tiles, image tile boundaries,
and/or feature regions. Such related data may include that
generated by tracked distance measuring devices or systems, utility
locator devices, and/or utility locating systems.
[0059] The term "updated data" used herein may refer to the revised
geolocation of a geographic feature or reference point that may
differ to the corresponding geographic feature or reference point
in the base map as well as other data relating to the process of
determining the revised geolocation. In some embodiments, such
updated data may be collected through a utility locating and
mapping procedure wherein the updated data may include the
predicted positions of utility lines in the ground as well as other
data relating to the utility lines.
Overview
[0060] This disclosure relates generally to methods and systems for
refining map feature positions and improving map position accuracy.
More specifically, but not exclusively, the disclosure relates to
methods and systems for refining map feature positions and
improving map position accuracy as determined by and used within
utility locating systems.
[0061] Details of example utility locating devices and systems that
may be combined with the geographic map updating system and method
embodiments herein, as well as additional components, methods, and
configurations that may be used in conjunction with the embodiments
described herein, are disclosed in co-assigned patents and patent
applications including: U.S. Pat. No. 7,009,399, issued Mar. 7,
2006, entitled OMNIDIRECTIONAL SONDE AND LINE LOCATOR; U.S. Pat.
No. 7,136,765, issued Nov. 14, 2006, entitled A BURIED OBJECT
LOCATING AND TRACING METHOD AND SYSTEM EMPLOYING PRINCIPAL
COMPONENTS ANALYSIS FOR BLIND SIGNAL DETECTION; U.S. Pat. No.
7,221,136, issued May 22, 2007, entitled SONDES FOR LOCATING
UNDERGROUND PIPES AND CONDUITS; U.S. Pat. No. 7,276,910, issued
Oct. 2, 2007, entitled COMPACT SELF-TUNED ELECTRICAL RESONATOR FOR
BURIED OBJECT LOCATOR APPLICATIONS; U.S. Pat. No. 7,288,929, issued
Oct. 30, 2007, entitled INDUCTIVE CLAMP FOR APPLYING SIGNAL TO
BURIED UTILITIES; U.S. Pat. No. 7,332,901, issued Feb. 19, 2008,
entitled LOCATOR WITH APPARENT DEPTH INDICATION; U.S. Pat. No.
7,336,078, issued Feb. 26, 2008, entitled MULTI-SENSOR MAPPING
OMNIDIRECTIONAL SONDE AND LINE LOCATORS; U.S. Pat. No. 7,557,559,
issued Jul. 7, 2009, entitled COMPACT LINE ILLUMINATOR FOR LOCATING
BURIED PIPES AND CABLES; U.S. Pat. No. 7,619,516, issued Nov. 17,
2009, entitled SINGLE AND MULTI-TRACE OMNIDIRECTIONAL SONDE AND
LINE LOCATORS AND TRANSMITTER USED THEREWITH; U.S. Pat. No.
7,733,077, issued Jun. 8, 2010, entitled MULTI-SENSOR MAPPING
OMNIDIRECTIONAL SONDE AND LINE LOCATORS AND TRANSMITTER USED
THEREWITH; U.S. Pat. No. 7,741,848, issued Jun. 22, 2010, entitled
ADAPTIVE MULTICHANNEL LOCATOR SYSTEM FOR MULTIPLE PROXIMITY
DETECTION; U.S. Pat. No. 7,755,360, issued Jul. 13, 2010, entitled
PORTABLE LOCATOR SYSTEM WITH JAMMING REDUCTION; U.S. Pat. No.
9,625,602, issued Apr. 18, 2017, entitled SMART PERSONAL
COMMUNICATION DEVICES AS USER INTERFACES; U.S. Pat. No. 7,830,149,
issued Nov. 9, 2010, entitled AN UNDERGROUND UTILITY LOCATOR WITH A
TRANSMITTER, A PAIR OF UPWARDLY OPENING POCKETS AND HELICAL COIL
TYPE ELECTRICAL CORDS; U.S. Pat. No. 7,969,151, issued Jun. 28,
2011, entitled PRE-AMPLIFIER AND MIXER CIRCUITRY FOR A LOCATOR
ANTENNA; U.S. Pat. No. 8,013,610, issued Sep. 6, 2011, entitled
HIGH-Q SELF TUNING LOCATING TRANSMITTER; U.S. Pat. No. 8,203,343,
issued Jun. 19, 2012, entitled RECONFIGURABLE PORTABLE LOCATOR
EMPLOYING MULTIPLE SENSOR ARRAY HAVING FLEXIBLE NESTED ORTHOGONAL
ANTENNAS; U.S. Pat. No. 8,248,056, issued Aug. 21, 2012, entitled
BURIED OBJECT LOCATOR SYSTEM EMPLOYING AUTOMATED VIRTUAL DEPTH
EVENT DETECTION AND SIGNALING; U.S. Pat. No. 9,599,499, issued Mar.
21, 2017, entitled SYSTEMS AND METHODS FOR LOCATING BURIED OR
HIDDEN OBJECTS USING SHEET CURRENT FLOW MODELS; U.S. Pat. No.
8,264,226, issued Sep. 11, 2012, entitled SYSTEM AND METHOD FOR
LOCATING BURIED PIPES AND CABLES WITH A MAN PORTABLE LOCATOR AND A
TRANSMITTER IN A MESH NETWORK; U.S. Pat. No. 9,638,824, issued May
2, 2017, entitled QUAD-GRADIENT COILS FOR USE IN LOCATING SYSTEMS;
U.S. patent application Ser. No. 13/677,223, filed Nov. 14, 2012,
entitled MULTI-FREQUENCY LOCATING SYSTEMS AND METHODS; U.S. patent
application Ser. No. 13/769,202, filed Feb. 15, 2013, entitled
SMART PAINT STICK DEVICES AND METHODS; U.S. patent application Ser.
No. 13/774,351, filed Feb. 22, 2013, entitled DOCKABLE TRIPODAL
CAMERA CONTROL UNIT; U.S. patent application Ser. No. 13/787,711,
filed Mar. 6, 2013, entitled DUAL SENSED LOCATING SYSTEMS AND
METHODS; U.S. Pat. No. 8,400,154, issued Mar. 19, 2013, entitled
LOCATOR ANTENNA WITH CONDUCTIVE BOBBIN; U.S. Pat. No. 9,488,747,
issued Nov. 8, 2016, entitled DUAL ANTENNA SYSTEMS WITH VARIABLE
POLARIZATION; U.S. patent application Ser. No. 13/894,038, filed
May 14, 2013, entitled OMNI-INDUCER TRANSMITTING DEVICES AND
METHODS; U.S. patent application Ser. No. 13/958,492, filed Aug. 2,
2013, entitled OPTICAL ROUND TRACKING APPARATUS, SYSTEMS AND
METHODS; U.S. Pat. No. 9,599,740, issued Mar. 21, 2017, entitled
USER INTERFACES FOR UTILITY LOCATORS; U.S. patent application Ser.
No. 14/027,027, filed Sep. 13, 2013, entitled SONDE DEVICES
INCLUDING A SECTIONAL FERRITE CORE STRUCTURE; U.S. patent
application Ser. No. 14/077,022, filed Nov. 11, 2013, entitled
WEARABLE MAGNETIC FIELD UTILITY LOCATOR SYSTEM WITH SOUND FIELD
GENERATION; U.S. Pat. No. 8,547,428, issued Oct. 1, 2013, entitled
PIPE MAPPING SYSTEM; U.S. Pat. No. 8,635,043, issued Jan. 21, 2014,
entitled Locator and Transmitter Calibration System; U.S. patent
application Ser. No. 14/446,145, filed Jul. 29, 2014, entitled
UTILITY LOCATING SYSTEMS WITH MOBILE BASE STATION; U.S. Pat. No.
9,632,199, issued Apr. 25, 2017, entitled INDUCTIVE CLAMP DEVICES,
SYSTEMS, AND METHODS; U.S. patent application Ser. No. 14/516,558,
filed Oct. 16, 2014, entitled ELECTRONIC MARKER DEVICES AND
SYSTEMS; U.S. patent application Ser. No. 14/580,097, filed Dec.
22, 2014, entitled NULLED-SIGNAL LOCATING DEVICES, SYSTEMS, AND
METHODS; U.S. Pat. No. 9,057,754, issued Jun. 16, 2015, entitled
ECONOMICAL MAGNETIC LOCATOR APPARATUS AND METHOD; U.S. patent
application Ser. No. 14/752,834, filed Jun. 27, 2015, entitled
GROUND TRACKING APPARATUS, SYSTEMS, AND METHODS; U.S. patent
application Ser. No. 14/797,840, filed Jul. 13, 2015, entitled
GROUND-TRACKING DEVICES AND METHODS FOR USE WITH A UTILITY LOCATOR;
U.S. patent application Ser. No. 14/798,177, filed Jul. 13, 2015,
entitled MARKING PAINT APPLICATOR FOR USE WITH PORTABLE UTILITY
LOCATOR; U.S. Pat. No. 9,081,109, issued Jul. 14, 2015, entitled
GROUND-TRACKING DEVICES FOR USE WITH A MAPPING LOCATOR; U.S. Pat.
No. 9,082,269, issued Jul. 14, 2015, entitled HAPTIC DIRECTIONAL
FEEDBACK HANDLES FOR LOCATION DEVICES; U.S. patent application Ser.
No. 14/802,791, filed Jul. 17, 2015, entitled METHODS AND SYSTEMS
FOR SEAMLESS TRANSITIONING IN INTERACTIVE MAPPING SYSTEMS; U.S.
Pat. No. 9,085,007, issued Jul. 21, 2015, entitled MARKING PAINT
APPLICATOR FOR PORTABLE LOCATOR; U.S. patent application Ser. No.
14/949,868, filed Nov. 23, 2015, entitled BURIED OBJECT LOCATOR
APPARATUS AND SYSTEMS; U.S. patent application Ser. No. 15/006,119,
filed Jan. 26, 2016, entitled SELF-STANDING MULTI-LEG ATTACHMENT
DEVICES FOR USE WITH UTILITY LOCATORS; U.S. Pat. No. 9,341,740,
issued May 17, 2016, entitled OPTICAL GROUND TRACKING APPARATUS,
SYSTEMS, AND METHODS; U.S. Pat. No. 9,411,067, issued Aug. 9, 2016,
entitled GROUND-TRACKING SYSTEMS AND APPARATUS; U.S. patent
application Ser. No. 15/247,503, filed Aug. 25, 2016, entitled
LOCATING DEVICES, SYSTEMS, AND METHODS USING FREQUENCY SUITES FOR
UTILITY DETECTION; U.S. patent application Ser. No. 15/250,666,
filed Aug. 29, 2016, entitled PHASE-SYNCHRONIZED BURIED OBJECT
TRANSMITTER AND LOCATOR METHODS AND APPARATUS; U.S. Pat. No.
9,435,907, issued Sep. 6, 2016, entitled PHASE SYNCHRONIZED BURIED
OBJECT LOCATOR APPARATUS, SYSTEMS, AND METHODS; U.S. Pat. No.
9,465,129, issued Oct. 11, 2016, entitled IMAGE-BASED MAPPING
LOCATING SYSTEM; U.S. patent application Ser. No. 15/331,570, filed
Oct. 21, 2016, entitled KEYED CURRENT SIGNAL UTILITY LOCATING
SYSTEMS AND METHODS; U.S. patent application Ser. No. 15/339,766,
filed Oct. 31, 2016, entitled GRADIENT ANTENNA COILS AND ARRAYS FOR
USE IN LOCATING SYSTEMS; U.S. patent application Ser. No.
15/345,421, filed Nov. 7, 2016, entitled OMNI-INDUCER TRANSMITTING
DEVICES AND METHODS; U.S. patent application Ser. No. 15/360,979,
filed Nov. 23, 2016, entitled UTILITY LOCATING SYSTEMS, DEVICES,
AND METHODS USING RADIO BROADCAST SIGNALS; U.S. patent application
Ser. No. 15/376,576, filed Dec. 12, 2016, entitled MAGNETIC SENSING
BURIED OBJECT LOCATOR INCLUDING A CAMERA; U.S. patent application
Ser. No. 15/396,068, filed Dec. 30, 2016, entitled UTILITY LOCATOR
TRANSMITTER APPARATUS AND METHODS; U.S. patent application Ser. No.
15/425,785, filed Feb. 6, 2017, entitled METHODS AND APPARATUS FOR
HIGH-SPEED DATA TRANSFER EMPLOYING SELF-SYNCHRONIZING QUADRATURE
AMPLITUDE MODULATION (QAM); U.S. patent application Ser. No.
15/434,056, filed Feb. 16, 2017, entitled BURIED UTILITY MARKER
DEVICES, SYSTEMS, AND METHODS; U.S. patent application Ser. No.
15/457,149, filed Mar. 13, 2017, entitled USER INTERFACES FOR
UTILITY LOCATOR; U.S. patent application Ser. No. 15/457,222, filed
Mar. 13, 2017, entitled SYSTEMS AND METHODS FOR LOCATING BURIED OR
HIDDEN OBJECTS USING SHEET CURRENT FLOW MODELS; U.S. patent
application Ser. No. 15/457,897, filed Mar. 13, 2017, entitled
UTILITY LOCATORS WITH RETRACTABLE SUPPORT STRUCTURES AND
APPLICATIONS THEREOF; U.S. patent application Ser. No. 15/470,642,
filed Mar. 27, 2017, entitled UTILITY LOCATING APPARATUS AND
SYSTEMS USING MULTIPLE ANTENNA COILS; U.S. patent application Ser.
No. 15/470,713, filed Mar. 27, 2017, entitled UTILITY LOCATORS WITH
PERSONAL COMMUNICATION DEVICE USER INTERFACES; U.S. patent
application Ser. No. 15/483,924, filed Apr. 10, 2017, entitled
SYSTEMS AND METHODS FOR DATA TRANSFER USING SELF-SYNCHRONIZING
QUADRATURE AMPLITUDE MODULATION (QAM); U.S. patent application Ser.
No. 15/485,082, filed Apr. 11, 2017, entitled MAGNETIC UTILITY
LOCATOR DEVICES AND METHODS; U.S. patent application Ser. No.
15/485,125, filed Apr. 11, 2017, entitled INDUCTIVE CLAMP DEVICES,
SYSTEMS, AND METHODS; U.S. patent application Ser. No. 15/490,740,
filed Apr. 18, 2017, entitled NULLED-SIGNAL UTILITY LOCATING
DEVICES, SYSTEMS, AND METHODS; U.S. patent application Ser. No.
15/497,040, filed Apr. 25, 2017, entitled SYSTEMS AND METHODS FOR
LOCATING AND/OR MAPPING BURIED UTILITIES USING VEHICLE-MOUNTED
LOCATING DEVICES; U.S. patent application Ser. No. 15/590,964,
filed May 9, 2017, entitled BORING INSPECTION SYSTEMS AND METHODS;
U.S. patent application Ser. No. 15/623,174, filed Jun. 14, 2017,
entitled TRACKABLE DIPOLE DEVICES, METHODS, AND SYSTEMS FOR USE
WITH MARKING PAINT STICKS; U.S. patent application Ser. No.
15/626,399, filed Jun. 19, 2017, entitled SYSTEMS AND METHODS FOR
UNIQUELY IDENTIFYING BURIED UTILITIES IN A MULTI-UTILITY
ENVIRONMENT; U.S. patent application Ser. No. 15/633,682, filed
Jun. 26, 2017, entitled BURIED OBJECT LOCATING DEVICES AND METHODS;
U.S. patent application Ser. No. 15/681,409, filed Aug. 20, 2017,
entitled WIRELESS BURIED PIPE AND CABLE LOCATING SYSTEMS; U.S. Pat.
No. 9,798,033, issued Oct. 24, 2017, entitled SONDE DEVICES
INCLUDING A SECTIONAL FERRITE CORE; U.S. patent application Ser.
No. 15/811,361, filed Nov. 13, 2017, entitled OPTICAL GROUND
TRACKING APPARATUS, SYSTEMS, AND METHODS; U.S. Pat. No. 9,841,503,
issued Dec. 12, 2017, entitled OPTICAL GROUND TRACKING APPARATUS,
SYSTEMS, AND METHODS; U.S. patent application Ser. No. 15/846,102,
filed Dec. 18, 2017, entitled SYSTEMS AND METHODS FOR
ELECTRONICALLY MARKING, LOCATING AND VIRTUALLY DISPLAYING BURIED
UTILITIES; U.S. patent application Ser. No. 15/866,360, filed Jan.
9, 2018, entitled TRACKED DISTANCE MEASURING DEVICES, SYSTEMS, AND
METHODS; U.S. patent application Ser. No. 15/870,787, filed Jan.
12, 2018, entitled MAGNETIC FIELD CANCELING AUDIO SPEAKERS FOR USE
WITH BURIED UTILITY LOCATORS OR OTHER DEVICES; U.S. patent
application Ser. No. 15/877,230, filed Jan. 22, 2018, entitled
UTILITY LOCATING TRANSMITTER APPARATUS AND METHODS; U.S.
Provisional Patent Application 62/620,959, filed Jan. 23, 2018,
entitled RECHARGEABLE BATTERY PACK ONBOARD CHARGE STATE INDICATION
METHODS AND APPARATUS; U.S. Pat. No. 9,880,309, issued Jan. 30,
2018, entitled UTILITY LOCATOR TRANSMITTER APPARATUS AND METHODS;
U.S. patent application Ser. No. 15/889,067, filed Feb. 5, 2018,
entitled UTILITY LOCATOR TRANSMITTER DEVICES, SYSTEMS, AND METHODS
WITH DOCKABLE APPARATUS; U.S. Pat. No. 9,891,337, issued Feb. 13,
2018, entitled UTILITY LOCATOR TRANSMITTER DEVICES, SYSTEMS, AND
METHODS WITH DOCKABLE APPARATUS; U.S. Provisional Patent
Application Ser. No. 62/656,259, filed Apr. 11, 2018, entitled
GEOGRAPHIC MAP UPDATING METHODS AND SYSTEMS; U.S. Provisional
Patent Application Ser. No. 62/688,259, filed Jun. 21, 2018,
entitled ACTIVE MARKER DEVICES FOR UNDERGROUND USE; U.S. patent
application Ser. No. 16/144,878, filed Sep. 27, 2018, entitled
MULTIFUNCTION BURIED UTILITY LOCATING CLIPS; U.S. patent
application Ser. No. 16/178,494, filed Nov. 1, 2018, entitled
THREE-AXIS MEASUREMENT MODULES AND SENSING METHODS; and U.S.
Provisional Patent Application Ser. No. 62/777,045, filed Dec. 7,
2018, entitled MAP GENERATION BASED ON UTILITY LINE POSITION AND
ORIENTATION ESTIMATES. The content of each of the above-described
patents and applications is incorporated by reference herein in its
entirety. The above applications may be collectively denoted herein
as the "co-assigned applications" or "incorporated
applications."
[0062] In one aspect, the disclosure is directed to a geographic
map updating system. The system may include, for example, a base
map element, including a data representation of an area displaying
features thereof and an update element. The update element may
include a geographic feature identification element to identify
geographic features coinciding with those of the base map element,
a position element for determining a position of the identified
geographic features based on provided positional data, a processing
element for comparing the base map element data and the update
element data to determine and generate an updated map, and a
non-transitory electronic data storage element for storing the base
map element data, update element data, and corresponding updated
map data.
[0063] The position element may include, for example, a global
navigation satellite system receiver for providing the positional
data to the position element, an inertial navigation system for
providing the positional data to the position element, and/or a
rangefinder system for providing the positional data to the
position element. The base map element may include one or more
satellite or other aerial photographic images represented by
digital data, image tiles represented by digital data, or other
feature regions represented by digital data that are organized so
as to be joined together to represent all or a portion of the
Earth's surface by placing the tiles together.
[0064] The update element may include, for example, a buried
utility locator. The buried utility locator may be a mapping
locator. The buried utility locator may include a locator housing,
an electromagnetic receiver front end subsystem, coupled to or
disposed in the locator housing. The front end system may include a
plurality of magnetic field antennas or antenna arrays and a
receiver circuit coupled thereto. The antennas may include at least
a first antenna array located at a first position and a second
antenna array located at a second position, spatially separated
from the first position. The front end subsystem may include
electronics to receive, simultaneously at the first position and
the second position, a magnetic field electromagnetic signal. The
update element may include one or more positioning elements. The
positioning element may be disposed in the locator housing and may
be coupled to the front end subsystem. The positioning element may
include one or more global navigation systems antennas and receiver
circuitry coupled thereto. The positioning element may be or
include real time kinematic (RTK) systems or other electronics for
generating location data, such as latitude/longitude coordinates.
The update element may include a geographic feature identification
element. The geographic feature identification element may include
electronics, electronic memory, and one or more processors for
generating a location for geographic features within the work
environment. The update element may include a processing element,
disposed in the locator housing and coupled to the front end
subsystem, programmed to process a first measurement of the ambient
electromagnetic signal at the first position, and a second
measurement of the ambient electromagnetic signal at the second
position, and determine, based at least in part on the first
measurement and the second measurement, information associated with
the buried conductor corresponding to location data generated by
the positioning elements as well as geographic feature locations.
The update element may include a non-transitory electronic memory
coupled to the processing element to store the determined
information pertaining to the buried conductor. The electromagnetic
signal may include a combination of a direct magnetic field signal
emitted from a radio transmitting antenna and a magnetic field
signal emitted from the buried conductor resulting from
electromagnetic coupling of the direct magnetic field signal to the
buried conductor.
[0065] The update element may include, for example, a dipole
tracked distance measuring system. The system may include a signal
tracking device. The signal tracking device may include one or more
magnetic field antenna arrays, one or more positioning elements for
determining the location of the signal tracking element in three
dimensional space, a processing element for processing received
dipole signals and data signals from the tracked distance measuring
device, a data storage element for storing geographic feature
location data and other signal data, and a tracked distance
measuring device. The tracked distance measurement device may
include a body, a rangefinder element for measuring distance to a
geographic feature, an alternating current (AC) signal generator, a
magnetic field dipole antenna, and an actuator for initiating
generation of an electromagnetic signal in conjunction with
measuring distance. The electromagnetic dipole signal may be
generated in conjunction with measuring of a distance by the
rangefinder element. Information associated with a position of the
tracked distance measuring device may be determined in a processing
element of the signal tracking element based on receiving and
processing an electromagnetic dipole signal in the one or more
magnetic field antenna arrays.
[0066] In another aspect, the disclosure relates to a processor
implemented method for updating the position of a geographic
feature within a base map. The method may include, for example,
identifying one or more geographic features, determining the
position of a reference point along the one or more geographic
features relative to the Earth's surface, correlating the measured
geographic feature to a corresponding featured digitally
represented within a base map, determining the difference in
position between the reference point of base map geographic
features and corresponding reference point of the geographic
feature measured along the Earth's surface, translating one or more
image tiles or other feature regions containing each geographic
feature based on updated geographic feature position data, and
storing the updated base map containing the translated map update
region and geographic feature in a non-transitory electronic
memory. The method may further include providing a visual display
of the updated base map containing the translated map update region
and geographic feature on an electronic display device.
[0067] The method may include, for example, performing
rubber-sheeting signal processing at the one or more translated
image tiles or other feature regions to smooth and seamlessly join
the translated image tiles or other feature regions and contiguous
image tiles or other feature regions of the base map. The updated
position of the geographic feature therein may be maintained in the
rubber-sheeting signal processing. The photographs or other imagery
of the identified one or more geographic features may be locally
generated. The locally generating may include capturing digital
imagery in a camera or from a utility locator. The image tiles may
each be an individual photograph or image from a base map comprised
of a multitude of stitched together satellite or aerial photographs
or other images representing the Earth's surface. The image tile or
other feature regions may be a predefined region surrounding each
geographic feature. The image tile or other feature regions may be
a region surrounding each geographic feature determined by a user
based on user input or user supplied data files. The image tile or
other feature regions may be a region surrounding each geographic
feature determined by a signal processing algorithm. The image tile
or tiles may be replaced by a new photograph or image tile of the
geographic feature and surrounding area. The new photograph or
image tile may be generated when determining the updated position
of the geographic feature. A pattern recognition or other machine
learning algorithm may be used to identify coinciding geographic
features. Reference points for geographic features may be located
in a physically separate location from their corresponding
geographic feature.
[0068] In another aspect, the disclosure relates to a processor
implemented method for geographic map data updating via a utility
locating and mapping system. The method may include, for example,
performing a utility locating and mapping operation wherein one or
more geographic features are identified and corresponding data
representing positions thereof are determined, generating
corresponding utility locating and mapping data including one or
more of surface position coordinate and buried utility depth,
associating the utility locating and mapping data and geographic
feature position data, determining the difference in position
between the newly identified geographic features from the utility
locating and mapping data and the same geographic features within a
base map, translating the image tiles or other feature regions
containing the geographic feature on the base map based on updated
geographic feature position data, correlating the utility locating
and mapping data to the update geographic feature position(s)
within the updated base map, and storing the updated base map in a
non-transitory electronic memory. The method may further include
providing a visual display of the updated base map on an electronic
display device.
[0069] The method may include, for example, applying
rubber-sheeting signal processing to the one or more translated
image tiles or other feature regions to smooth and seamlessly join
the translated image tiles or other feature regions and contiguous
image tiles or other feature regions of the base map while
maintaining the updated position of the geographic feature therein.
The utility locating and mapping data generated by the locator may
be indexed to one or more updated geographic feature positions and
stored in a non-transitory electronic memory. The utility locating
and mapping data may be indexed relative to the updated map.
[0070] In another aspect, the disclosure relates to a processor
implemented method for geographic map data updating. The method may
include, for example, determining data corresponding to position
updates for one or more geographic features within a mapped area,
determining data corresponding to the geographic features with a
base map, aligning data corresponding to the geographic features
within base map to data corresponding to the geographic features in
the updated map area, geometrically modifying image tile or other
feature region data to provide smooth and continuous boundaries to
neighboring image tiles neighboring feature regions, and storing
the geometrically modified image time or other feature region data
in a non-transitory electronic memory. The method may further
include providing a visual display of a map including at least the
updated tile or base map on an electronic display device. The
method may further include generating a quality metric describing
how accurately the base map or image tiles or other feature regions
within a base map align with the updated map data. The quality
metric may be stored in an electronic non-transitory memory.
[0071] In another aspect, the disclosure relates to a processor
implemented method for geographic map data. The method may include,
for example, determining position updates for data defining one or
more geographic features within a mapped area, generating
translation vectors data based on the position updates, determining
a best fit position for the geographic features data and the base
map data by processing the translation vectors data from the
position updates using a best fit algorithm, translating data
corresponding to base map data or data corresponding to regions
within the base map surrounding the geographic features based on
the determined best fit to generate an updated base map, and
storing the data corresponding to the updated base map in a
non-transitory memory. The method may include providing a visual
display of the updated base map on an electronic display device.
The translated region surrounding the geographic features may be
determined by selection input data provided by a user. The
selection input data may be generated from mouse, keyboard, or
other user-interface device input made by the user. The translated
region surrounding the geographic features may be determined by a
signal processing algorithm.
[0072] In another aspect, the disclosure relates to a processor
implemented method for aligning and improving the precision of map
data from geographically updated base map data. The method may
include, for example, identifying data corresponding to ones of a
plurality of geographic features in a mapped area, determining
position updates for the plurality of geographic features data,
determining geographic map update data from a base map based on the
determined position updates, associating the geographic map update
data with the base map, determining one or more geographic features
within the updated base map correlating to features corresponding
to data within one or more other maps, determining data defining
one or more translation vectors for the one or more other maps data
based at least in part on alignment of correlating geographic
features between the updated base map and the one or more other
maps data, translating positioning data in the one or more other
maps data based on the data defining the one or more translation
vectors, and storing the geographic map update data and data
associated with the translation of the one or more other maps in an
electronic non-transitory memory. The method may further include
providing a visual display of the translated one or more other maps
on a visual display device. The method may further include
providing a visual display of an update of the mapped area based on
the geographic map update data from the base map.
[0073] Various additional aspects, features, and functions are
described below in conjunction with the embodiments shown in FIG.
1A through FIG. 9 of the appended Drawings.
EXAMPLE EMBODIMENTS
[0074] It is noted that as used herein, the term, "exemplary" means
"serving as an example, instance, or illustration." Any aspect,
detail, function, implementation, and/or embodiment described
herein as "exemplary" is not necessarily to be construed as
preferred or advantageous over other aspects and/or
embodiments.
[0075] Turning to FIG. 1A, a method 100 for identifying and
updating geographic feature positions may include a step 101
wherein a geographic feature is identified within an area that may
also be represented within a base map of the same area. Some
examples of such geographic features may include but are not
limited to, manhole covers or other identifiable street or sidewalk
or other infrastructure elements, painted or otherwise human
created marks such as the tip of a direction arrow painted on a
street, and/or other elements along the Earth's surface. The
geographic feature may, in some embodiments, be selected by a user.
In other embodiments, the selection of geographic features may
involve pattern recognition and/or other machine learning
algorithms. The base map may comprise of a series of satellite or
aerial photographs or other image tiles or other feature regions
stitched together to represent an area of the Earth's surface. In a
step 102, a position may be determined at a reference point on the
geographic feature. The reference point may, for instance, be or
include the center point of a manhole cover, the tip of a traffic
arrow painted on a street, or other point on a geographic feature
that may coincide with the same point within the same feature
within the base map. The position data may include location(s) on
the Earth's surface (e.g., latitude and longitude coordinates). In
some method embodiments, the position data may include orientation
data at that location (e.g., direction towards magnetic north) that
may be used to generate a geographic rotation update of the image
tile or tiles or other feature regions containing the geographic
feature. In some embodiments, the step 102 may include
photographing or otherwise creating imagery of the geographic
feature and surrounding environment. Within step 102, the
generation of geographic feature position data may include, for
example, the use of global navigation satellite systems (GNSS)
including real time kinematics (RTK) global positioning satellite
(GPS) systems or other satellite positioning systems (e.g.,
GLONASS, Galileo, quasi-zenith satellite system, BeiDou, or the
like), inertial navigation systems (INS), magnetic sensors (e.g.,
compass sensors), light detection and ranging (LIDAR) or other
rangefinder devices or methods, and/or other positioning and
orientation determining systems to determine the reference point
position associated with each geographic feature. In even further
embodiments, such as the utility locating, mapping, and geographic
feature identification system 400 of FIG. 4, the identification
and/or position determining may be achieved via a utility locating
and mapping operation which may include the use of one or more
tracked distance measuring devices/systems and/or utility locator
devices and/or associated utility locating devices/systems as
described in U.S. patent application Ser. No. 15/866,360, filed
Jan. 9, 2018, entitled TRACKED DISTANCE MEASURING DEVICES, SYSTEMS,
AND METHODS. In the various embodiments described herein, the
geographic feature identification data may include a time and date
relating to the geographic features updated measured position.
Returning to FIG. 1A, in a step 103, the geographic feature
identified on the Earth's surface may be compared to features
within the base map to determine a correlating base map geographic
feature. The step 103 may include pattern matching algorithms
and/or other machine learning algorithms to identify correlating
geographic features between those measured and those within the
base map. In a step 104, the difference in position between the
reference point on the measured geographic features and the
correlating geographic features within the base map may be
calculated. This calculation may generate a translation vector
having both a direction and a magnitude representing the direction
and distance of the geographic feature translation. In some
embodiments, the position difference may also include an
orientation measurement at that location wherein the orientation of
the geographic feature at the original location is known or
otherwise possible to be determined. When rotation data is
applicable or able to be determined (e.g., orientation data is
available at the geographic feature location in the base map and/or
otherwise determined from images of the geographic feature), a
rotation update may be determined. In a step 105, the position
difference(s) from step 104 may be used to translate the image
tile(s) or other feature region(s) containing the geographic
feature. For instance, the image tile(s) or other feature region(s)
surrounding the geographic feature may translate along the
translation vector established between the reference point on the
geographic feature within the base map and that measured on the
Earth's surface. Image reconstruction, image translation, or like
algorithms may be used to translate the map update region imagery
to the position within the base map. In some embodiments having
more than one geographic feature updates within a single image tile
or other feature region, the translations may not be equivalent in
direction and/or magnitude. In such embodiments, simultaneous
locating and mapping (SLAM) algorithms, Kalman filters, neural
network or like machine learning, bundle adjustment algorithms,
particle filtering algorithms, averaging, scale invariant feature
transform (SIFT), random sample consensus (RANSAC), or the like
algorithms or techniques may be used to determine the translation.
In some such embodiments having multiple geographic feature updates
within the same image tile or other feature region, the image tile
or other feature region may be distorted to accommodate the
multiple different translations. In a step 106, rubber-sheeting
and/or other like techniques may be used to distort the boundaries
of the image tile(s) or other feature region(s) allowing the one or
more translated image tiles or other feature regions to seamlessly
adjoin with neighboring image tiles or other feature regions. It
should be noted that the rubber-sheeting or like techniques may
maintain the updated position of the measured geographic feature.
In a step 107, the geographic feature position and related data may
be stored and optionally displayed. The method 100 of FIG. 1A may
optionally repeat identifying and updating geographic feature
positions throughout a map area.
[0076] Turning to FIG. 1B, a base map 110 may represent a portion
of the Earth's surface 120. The base map 110 may be comprised of a
series of individual image tiles, such as image tile 130a adjoined
together to represent a portion of the Earth's surface. The image
tiles may be positioned satellite or aerial photographs or other
images stitched together representing the Earth's surface. As
illustrated in FIG. 1B, a geographic feature 140a may have a
position within base map 110 further referencing a location on the
Earth's surface 120. The position of geographic feature 140a may
include a location having latitudinal and longitudinal world
coordinates (e.g., measured by one or more real time kinematics
(RTK) global positioning satellite (GPS) systems, Galileo,
quasi-zenith satellite system, BeiDou, or the like). In some
embodiments, the position of a geographic feature may include an
orientation (e.g., heading relative to magnetic north) that may
further be updated (not illustrated). The position of geographic
feature 140a may be measured via a reference point 150a on
geographic feature 140a. A geographic map updating system, such as
the geographic map updating system 600 illustrated in FIG. 6 or
utility locating, mapping, and geographic feature identification
system 700 of FIG. 7 may identify an updated position for
geographic feature 140a to the geographic feature 140b position as
measured at reference point 150b on geographic feature 140b
relative to the Earth's surface 120. Based on the updated position
data relating to reference point 150b on geographic feature 140b, a
translation vector 160 may be determined wherein the difference in
direction and distance to the measured reference point 150b on
geographic feature 140b from a corresponding reference point 150a
on geographic feature 140a within base map 110 is calculated. The
translation vector 160 may be applied to all points within the
image tile 130a such that the image tile 130a is translated to the
image tile 130b position. In some embodiments, a single geographic
feature may overlap into two or more image tiles. In such cases,
the same translation vector may apply at each image tile or a
translation may individually be determined at each image tile. In
some embodiments, the movement of geographic features may be
predicted (e.g., seismic data may be used to predict shifting at
the Earth's surface). In such embodiments, the image tiles of a
base map, such as the image tile 130a/b of base map 110, may be
updated on an ongoing basis and/or upon a triggering event such as
an earthquake or other predictive events of movement at the Earth's
surface.
[0077] In some image tiles, more than one geographic feature may
exist each having a different translation vector that may not be
equal in distance and/or direction. As illustrated in FIG. 1C, the
base map 110 may have geographic features 140a and 142a having
positions within the same image tile 130a. The image tile 130a and
geographic features 140a and 142a therein, may have positions
relative to the Earth's surface 120. A geographic map updating
system, such as the geographic map updating system 600 illustrated
in FIG. 6 or utility locating, mapping, and geographic feature
identification system 700 of FIG. 7 may identify an updated
position for the geographic features 140a and 142a to the
geographic feature 140b and 142b positions as measured at reference
point 150b on geographic feature 140b and reference point 152b on
geographic feature 142b relative to the Earth's surface 120. Based
on the updated position data relating to reference point 150b on
geographic feature 140b and reference point 152b on geographic
feature 142b, vectors 162 and 164 may be determined wherein the
difference in direction and distance to the measured reference
point 150b on geographic feature 140b from a corresponding
reference point 150a on geographic feature 140a within base map 110
and the measured reference point 152b on geographic feature 142b
from a corresponding reference point 152a on geographic feature
142a within base map 110 are calculated. In such cases wherein the
multiple vectors within a single image tile are not equal in
distance or direction, such as vectors 162 and 164, a geographic
update may be determined by simultaneous locating and mapping
(SLAM) algorithms, Kalman filters, neural network or like machine
learning, bundle adjustment algorithms, particle filtering
algorithms, averaging, scale invariant feature transform (SIFT),
random sample consensus (RANSAC), or the like. For instance, a
single translation vector, such as the translation vector 160 in
FIG. 1C, may be determined via one or more of such techniques. The
translation vector 160 may be applied to all points within the
image tile 130a such that the image tile 130a is translated to the
image tile 130b position. In some embodiments, the image tile
containing the multiple geographic feature translations may be
distorted to accommodate precise translations for each geographic
feature. Additional rubber-sheeting or like techniques may again be
applied to the image tile to seamlessly adjoin the image tile with
neighboring image tiles while maintaining the updated position of
each geographic feature.
[0078] Turning to FIG. 1D, a base map 165 may represent a portion
of the Earth's surface 168. The base map 165 may include a series
of feature regions, such as feature region 170a or feature region
172a, that include or surround geographic features, such as
geographic feature 180 or geographic feature 182. The feature
regions may include the geographic feature and surrounding area, as
illustrated with geographic feature 180, or just the geographic
feature, as illustrated with geographic feature 182. Each
geographic feature 180 and 182 may have a position within base map
165 further referencing a location on the Earth's surface 168. The
position of geographic features 180 and 182 may include a location
having latitudinal and longitudinal world coordinates (e.g.,
measured by one or more real time kinematics (RTK) global
positioning satellite (GPS) systems, Galileo, quasi-zenith
satellite system, BeiDou, or the like). In some embodiments, the
position of a geographic feature may include an orientation (e.g.,
heading relative to magnetic north) that may further be updated
(not illustrated). The position of geographic features 180 and 182
may be measured via a reference point, such as corresponding
reference points 190a and 192a. A geographic map updating system,
such as the geographic map updating system 600 illustrated in FIG.
6 or utility locating, mapping, and geographic feature
identification system 700 of FIG. 7 may identify updated positions
for feature regions 170b and 172b as measured at reference points
190b and 192b. Based on the updated position data relating to
reference points 190b and 192b, translation vector 190c and 192c
may be determined wherein the difference in direction and distance
between reference points 190a and 190b and reference points 192a
and 192b are calculated. The translation vectors 190c and 192c may
be applied to all points within the respective feature regions 170a
and 172a such that the feature regions 170a and 172a are translated
to the feature regions 170b and 172b positions respectively. In
some embodiments, utility positions may be revealed in a utility
locating map. For instance, utility positions may be indexed to
feature regions, such as feature regions 170a/b and 172a/b, and/or
reference points therein, such as reference points 190a/b and
192a/b, allowing the utility positions to be updated according to
translation data determined by the geographic map updating system
or methods of the present disclosure.
[0079] Turning to FIG. 2A, a method 200 for identifying and
updating geographic feature positions may include a step 201
wherein a geographic feature is identified within an area that may
also be included within a base map that includes the same area. For
example, step 201 may include identifying a geographic feature such
as a manhole cover, traffic arrow, or like feature along the
Earth's surface. In a step 202, a position (e.g., latitudinal and
longitudinal world coordinates) may be determined at a reference
point on the geographic feature (e.g., center point of a manhole
cover, the tip of a traffic arrow painted on a street, or other
point on the selected geographic feature). In a parallel step 203,
a photograph or other imagery of the geographic feature and
surrounding environment may be generated. The images may include
orthorectified imagery gathered by an unmanned aerial vehicle such
as the drone 690 in FIG. 6, images generated by a stereoscopic
ground tracking device such as the optical ground tracking device
766 illustrated in FIG. 7 and described within the incorporated
U.S. Pat. No. 9,841,503, issued Dec. 12, 2017, entitled OPTICAL
GROUND TRACKING APPARATUS, SYSTEMS, AND METHODS, and/or images
collected from a tracked distance measuring system or device such
as the tracked distance measuring device 475 and/or smart phone 485
illustrated in FIG. 4 and further described in the incorporated
U.S. patent application Ser. No. 15/866,360, filed Jan. 9, 2018,
entitled TRACKED DISTANCE MEASURING DEVICES, SYSTEMS, AND METHODS.
In a step 204, the geographic feature identified on the Earth's
surface may be compared to features within a base map to determine
a correlating base map geographic feature. The step 204 may include
pattern matching algorithms and/or other machine learning
algorithms to identify correlating geographic features between
those measured and those within the base map. In a step 205, the
image tile(s) or other feature region(s) containing the geographic
feature may be determined. In a step 206, the difference in
position between the reference point on measured geographic
features and correlating geographic features within the base map
may be calculated. This calculation may result in a translation
vector having both a direction and a magnitude representing the
direction and distance of the geographic feature translation. In a
step 207, the position difference(s) from step 206 may be used to
translate the image tile(s) or other feature region(s) containing
the geographic feature. For instance, the image tile(s) or other
feature region(s) containing the geographic feature may translate
along a vector established between the reference point on the
geographic feature within the base map and that measured on the
Earth's surface. Image reconstruction, image translation, or like
algorithms may be used to translate the image tile(s) or other
feature region(s) to the position within the base map. In some
embodiments, the photographs or other imagery of the geographic
feature and surrounding environment generated in step 203 may
replace the original base map image tile(s) or other feature
region(s). In a step 208, rubber-sheeting and/or other like
techniques may optionally be used to distort the boundaries of the
image tile(s) or other feature region(s) allowing the one or more
translated image tiles or other feature regions to seamlessly
adjoin with neighboring image tiles or feature regions. It should
be noted that the rubber-sheeting or like techniques may maintain
the updated position of the measured geographic feature. In a step
209, the geographic feature position and related data may be stored
and optionally displayed. The method 200 of FIG. 2A may optionally
repeat identifying and updating geographic feature positions
throughout a map area.
[0080] Turning to FIG. 2B, a base map 210 may represent a portion
of the Earth's surface 220. As shown within FIG. 2B, the image tile
230a within base map 210 of FIG. 2B containing the geographic
feature 240a/b may be a quantity of area surrounding geographic
feature 240a/b. Within other embodiments described herein, the
image tile may generally be an individual photograph or image from
a base map comprised of a multitude of satellite or aerial
photographs or other image tiles stitched together to represent the
Earth's surface. In some embodiment, such as the embodiment of FIG.
2B, the image tile 230a may instead be a feature region comprising
the geographic feature and, in some embodiments, a portion of space
surrounding the geographic feature 240a/b. This region of space may
be a predefined distance or variable distance surrounding an
identified geographic feature that may be user determined or
determined by algorithms. As illustrated in FIG. 2B, a geographic
feature 240a may have a position within base map 210 further
referencing a location on the Earth's surface 220. The position of
geographic feature 240a may include a location having latitudinal
and longitudinal world coordinates (e.g., measured by one or more
real time kinematics (RTK) global positioning satellite (GPS)
systems, Galileo, quasi-zenith satellite system, BeiDou, or the
like). In some embodiments, the position of a geographic feature
may include an orientation (e.g., heading relative to magnetic
north) that may further be updated (not illustrated). The position
of geographic feature 240a may be measured via a reference point
250a on geographic feature 240a. A geographic map updating system,
such as the map updating system 600 illustrated in FIG. 6 or
utility locating, mapping, and geographic feature identification
system 700 of FIG. 7 may identify an updated position for
geographic feature 240a to the geographic feature 240b position as
measured at reference point 250b on geographic feature 240b
relative to the Earth's surface 220. Based on the updated position
data relating to reference point 250b on geographic feature 240b, a
translation vector 260 may be determined wherein the difference in
direction and distance to the measured reference point 250b on
geographic feature 240b from a corresponding reference point 250a
on geographic feature 240a within base map 210 is calculated. The
translation vector 260 may be applied to all points within the
image tile 230a such that the image tile 230a is translated to the
image tile 230b position. Rubber-sheeting and/or other like
techniques (not illustrated) may be used to distort the boundaries
of the image tile 230b allowing the one or more translated image
tiles 230b to seamlessly adjoin with neighboring image tiles while
maintaining the positional accuracy of the updated geographic
features.
[0081] Turning to FIG. 3A, a method 300 for geographic map updating
is described. The method 300 may include a step 301 wherein the
position of geographic features are updated using the method 100 of
FIG. 1A or method 200 of FIG. 2. The step 301 may general include
determining position updates for a multitude of geographic features
throughout a mapped area. Within some method 300 embodiments, the
geographic feature position updates of step 301 may be selectively
chosen by a user and/or through machine algorithms to ensure the
best possible position for each geographic feature. In a step 302,
each geographic feature within the base map may align with the
updated geographic feature position and the image tile(s) or other
feature region(s) containing the geographic feature and further be
distorted so as to maintain smooth and continuous boundaries to
neighboring image tiles or other feature regions. In an optional
step 303, a quality metric may be determined based on how
accurately or inaccurately the original base map or regions within
the base map align to the updated map dap data. In a step 304, the
updated base map may be stored and/or optionally displayed.
[0082] Turning to FIG. 3B, a base map 310 may be comprised of a
series of image tiles 330. In other embodiments, the image tiles
may instead be feature regions comprising the geographic feature
and, in some embodiments, a portion of space surrounding each
geographic feature. An updated map area 320 may identify various
geographic features having updated positions such as the geographic
features 340, 342, 346, and 348. The image tiles 330 containing
each geographic feature 340, 342, 346, and 348 within the base map
310 may be translated along corresponding translation vectors 360,
362, 364, and 368 to align geographic features 340, 342, 346, and
348 within the base map 310 to the geographic features 340, 342,
346, and 348 within the updated map area 320. Rubber-sheeting or
like techniques may be used on translated image tile(s) 330
containing the geographic features 340, 342, 346, and 348 to
maintain smooth and continuous boundaries to neighboring image
tiles 330. Such techniques may maintain the updated geographic
feature position.
[0083] Turning to FIG. 4A, a method 400 for geographic map updating
is described. The method 400 may include a step 401 wherein the
position of geographic features are updated using the method 100 of
FIG. 1A or method 200 of FIG. 2. The step 401 may generally include
determining translation vectors for updating a multitude of
geographic feature positions within a mapped area. Within some
method 400 embodiments, the geographic feature position updates of
step 401 may be selectively chosen by a user and/or through machine
algorithms to ensure the best possible position for each geographic
feature. In a step 402, the translation vector(s) may be analyzed
to determine a best fit in aligning the base map with the updated
geographic feature positions. For instance, simultaneous locating
and mapping (SLAM) algorithms, Kalman filters, neural network or
like machine learning, bundle adjustment algorithms, particle
filtering algorithms, averaging, scale invariant feature transform
(SIFT), random sample consensus (RANSAC), or the like algorithms or
techniques may be applied to a number of translation vectors, each
having a magnitude and direction, to determine a geographic update
for the base map position. In a step 403, the base map may be
translated to the best fit determined within step 402. In some
embodiments, only regions of the base map within a certain distance
surrounding each translation. In such embodiments, such regions of
map being translated may be user determined or determined by
algorithms. It should also be noted that the updated geographic
feature positions will be maintained through translation movements
of a base map. In a step 404, the updated base map may be stored
and/or optionally displayed.
[0084] As illustrated in FIG. 4B, a base map 410 and an updated map
area 420 may have a series of corresponding geographic features
440, 442, 446, and 448. Within the updated map 420, updated
positions for geographic features 440, 442, 446, and 448 may be
determined. The image tiles 430 containing each geographic feature
440, 442, 446, and 448 within the base map 410 may be translated
along corresponding translation vectors 460, 462, 464, and 468 to
align geographic features 440, 442, 446, and 448 within the base
map 410 to the geographic features 440, 442, 446, and 448 within
the updated map area 420. Rubber-sheeting or like techniques may be
used on translated image tile(s) containing the geographic features
to maintain smooth and continuous boundaries to neighboring image
tiles. Such techniques may maintain the updated geographic feature
position. The translation vectors 460, 462, 464, and 468 may be
analyzed to determine a best fit in aligning the base map with the
updated geographic feature positions. For instance, simultaneous
locating and mapping (SLAM) algorithms, Kalman filters, neural
network or like machine learning, bundle adjustment algorithms,
particle filtering algorithms, averaging, scale invariant feature
transform (SIFT), random sample consensus (RANSAC), or the like
algorithms or techniques may be applied to a number of translation
vectors, each having a magnitude and direction, to determine a
geographic update translation 470 for the base map 410 position. In
some embodiments, only regions of the base map 410 may be
translated. These regions may be user determined or determined by
algorithms or may be the image tiles or may be other feature
regions. It should also be noted that the updated geographic
feature 440, 442, 446, and 448 positions will be maintained through
translation movements of a base map 410.
[0085] Turning to FIG. 5A, a method 500 for geographic map updating
is described for improving the accuracy for a multitude of maps.
The method 500 may include a step 501 wherein the position of
geographic features are updated using the method 100 of FIG. 1A or
method 200 of FIG. 2. In a step 502, a geographic map update may be
determined using the method 300 of FIG. 3A or method 400 of FIG.
4A. In a step 503, one or more geographic features within the
updated base map may be identified correlating to features within
one or more additional maps. In a step 504, a translation for the
other maps may be determined based on alignment of correlating
geographic features. In a step 505, the one or more additional maps
may be translated based on the determined translation within step
504. In a step 506, the updated map data may be stored and
optionally displayed.
[0086] Turning to FIG. 5B, a base map 510 and an updated map area
520 may have a series of corresponding geographic features 540 and
542. Within the updated map 520, updated positions for geographic
features 540 and 542 may be determined. The image tiles 530
containing each geographic feature 540 and 542 within the base map
510 may be translated along corresponding translation vectors 560
and 562 to align geographic features 540 and 542 within the base
map 510 to the geographic features 540 and 542 within the updated
map area 520. In some embodiments, the image tiles 530 may instead
be feature regions. Rubber-sheeting or like techniques may be used
on translated image tile(s) or other feature region(s) containing
the geographic features to maintain smooth and continuous
boundaries to neighboring image tiles or other feature regions.
Such techniques may maintain the updated geographic feature
position. The translation vectors 560 and 562 may be analyzed to
determine a best fit in aligning the base map with the updated
geographic feature positions. For instance, simultaneous locating
and mapping (SLAM) algorithms, Kalman filters, neural network or
like machine learning, bundle adjustment algorithms, particle
filtering algorithms, averaging, scale invariant feature transform
(SIFT), random sample consensus (RANSAC), or the like algorithms or
techniques may be applied to a number of translation vectors, each
having a magnitude and direction, to determine a geographic update
translation 570 for the base map 510 position. Once updated,
additional geographic features within the base map 510 may be
identified that may correlate to geographic features within
additional maps such as map 580. For instance, the updated map area
520 may include detailed and high resolution images of each
geographic feature 540 and 542 that may be used to determine the
geographic map update for a larger scale base map 510. Likewise,
various geographic features within in the base map 510, such as
feature 585, may correlate to that within map 580. The map 580 may,
in some embodiments, be of larger scale than the base map 510. A
geographic map update translation 590 may be determined to align
the map 580 based on feature 585 position within the base map 510.
In some embodiments, imagery from the updated map 520, base map
510, and/or map 580 may be merged into the updated map 520, base
map 510, and/or map 580. For instance, the high resolution and
detailed updated map 520 images may be merged into the base map 510
and/or map 580.
[0087] Turning to FIG. 6, a geographic map updating system 600 may
include a base map element 610 having at least one geographic
feature 640a corresponding to a geographic feature 640 on the
Earth's surface 620. Within geographic map updating system 600, the
base map 610 may be a digital map accessed via one or more
computing devices such as computing device 665. The computing
device 665 illustrated in FIG. 6 is a laptop computer. In other
embodiments in keeping with the present disclosure, a geographic
map updating system may include various other computing devices
including but not limited to tablets, smart phones, personal
computers, utility locating system devices and/or other computing
devices for storing and/or processing geographic feature and map
data. The base map 610 may be stored locally on computing device
665 and/or may be stored in a remote server or like cloud based
computing system. A geographic update for base map 610 may be
determined wherein the position difference of a measured reference
point 650b on a geographic feature 640b differs to that of a
reference point 650a of a corresponding geographic feature 640a
within the base map 610. The updated geographic feature 640b
position may be determined via an update element wherein the
geographic feature 640 is identified on the Earth's surface 620 and
it's position is determined via reference point 650. For instance,
within geographic map updating system 600 of FIG. 6 the user 670
may identify geographic feature 640 having a reference point 650.
The geographic feature 640 may be measured at reference point 650
resulting in a reference point 650b measurement of geographic
feature 640b. For instance, within the system 600 illustrated in
FIG. 6, the user 670 may measure the position of reference point
650 on geographic feature 640 by aiming a tracked distance
measuring device 675 at reference point 650. The tracked distance
measuring device 675 may be of the variety disclosed in the
incorporated U.S. patent application Ser. No. 15/866,360, filed
Jan. 9, 2018, entitled TRACKED DISTANCE MEASURING DEVICES, SYSTEMS,
AND METHODS. When actuated, the tracked distance measuring device
675 may measure a distance to reference point 650 on geographic
feature 640 and, by communicating position data with a global
navigation satellite system, such as GPS backpack device 680,
determine the position of the reference point 650 and thereby
geographic feature 640. The GPS backpack device 680 may be of the
variety described in the incorporated U.S. patent application Ser.
No. 13/851,951, filed Mar. 31, 2012, entitled DUAL ANTENNA SYSTEMS
WITH VARIABLE POLARIZATION and U.S. patent application Ser. No.
14/214,151, filed Mar. 29, 2013, entitled DUAL ANTENNA SYSTEMS WITH
VARIABLE POLARIZATION. In some embodiments, photographs, video,
and/or other imagery of the geographic feature, such as geographic
feature 640, and surrounding environment may be generated. For
instance, within the system 600 illustrated in FIG. 6, the imagery
may be generated by a smart phone 685 on tracked distance measuring
device 675 and/or an unmanned aerial vehicle, such as drone 690,
and/or other like device for generating geographic feature imagery.
The updated geographic feature 640b reference point 650b position
data, as well as any generated geographic feature imagery, may be
communicated to one or more computing devices such as the computing
device 665. For instance, a wireless signal 695 (e.g., using WIFI,
Bluetooth, or other wireless technologies or protocols) may
communicate updated geographic feature 640b reference point 650b
position data between tracked distance measuring device 675, GPS
backpack device 680, and/or smart phone 685 and computing device
665. Within a processing element, such as that which may be present
within computing device 665, correlation of the measured and
photographed geographic feature 640b to the corresponding
geographic feature 640a within base map 610 may occur. For
instance, pattern recognition or other machine learning algorithms
or like techniques and algorithms may be used to determine
correlating geographic features within base map 610. The updated
position data of reference point 650b on geographic feature 640b
may generate a translation vector 660 translating image tile 630a
to image tile 630b position. In some embodiments, the translated
image tiles, such as image tile 630a, may instead be other feature
regions. Rubber-sheeting and/or other like techniques (not
illustrated) may be used to distort the boundaries of the image
tile 630b or other feature regions allowing the one or more
translated image tiles 630b or other feature regions to seamlessly
adjoin with neighboring image tiles or other feature regions while
maintaining the positional accuracy of the updated geographic
features. The resulting updated image tile 630b or other updated
feature region and associated map data and images may be processed
and/or stored locally on computing device 665 and/or uploaded to a
remote server or other cloud based computing system. The updated
geographic feature 640b data and related map data may further be
communicated to other computing devices.
[0088] In keeping with the present disclosure, some geographic map
updating system embodiments may include various utility locating,
mapping, and geographic feature identification systems and devices.
As illustrated in FIG. 7, a utility locating, mapping, and
geographic feature identification system 700 may include a tracked
distance measuring device 775 as held by a user 770 aimed towards a
reference point 750 on a geographic feature 740. The tracked
distance measuring device 775 may identify and generate position
data for the reference point 750 on geographic feature 740. The
tracked distance measuring device 775 and associated system devices
may be of the variety as described in U.S. patent application Ser.
No. 15/866,360, filed Jan. 9, 2018, entitled TRACKED DISTANCE
MEASURING DEVICES, SYSTEMS, AND METHODS. As the user 770 actuates
the tracked distance measuring device 775 to identify geographic
feature 740 and measure the distance to reference point 750, the
tracked distance measuring device 775 may generate one or more
dipole signals that may be measured at a utility locator device 765
to determine the location and pose of the tracked distance
measuring device 775 in three dimensional space. The utility
locator device 765 may be of the variety described in U.S. patent
application Ser. No. 15/866,360, filed Jan. 9, 2018, entitled
TRACKED DISTANCE MEASURING DEVICES, SYSTEMS, AND METHODS and U.S.
patent application Ser. No. 15/360,979, filed Nov. 25, 2016,
entitled UTILITY LOCATING SYSTEMS, DEVICES, AND METHODS USING RADIO
BROADCAST SIGNALS; as well as the utility locator and associated
devices and systems described in the above incorporated
applications. The utility locator device 765 may include GPS or
like global satellite navigation systems as well as optical or
inertial motion tracking devices such as the optical ground
tracking device 766 for optically determining the positional
movements of the utility locator device 765 along the Earth's
surface 720. The optical ground tracking device 766 illustrated in
FIG. 7 may be of the variety and described within the incorporated
U.S. Pat. No. 9,841,503, issued Dec. 12, 2017, entitled OPTICAL
GROUND TRACKING APPARATUS, SYSTEMS, AND METHODS. The position
element of system 700 may further include a GPS backpack device 780
worn by user 770, may be used to determine or refine the geographic
location of utility locator device 765 on the Earth's surface and,
thereby, the position and pose of the tracked distance measuring
device 775. The GPS backpack device 780 may be of the variety
described in the incorporated U.S. patent application Ser. No.
13/851,951, filed Mar. 31, 2012, entitled DUAL ANTENNA SYSTEMS WITH
VARIABLE POLARIZATION and U.S. patent application Ser. No.
14/214,151, filed Mar. 29, 2013, entitled DUAL ANTENNA SYSTEMS WITH
VARIABLE POLARIZATION. The GPS backpack device 780 may include GNSS
antennas and associated circuitry to determine refined position
data as well as transceiver antennas and associated circuitry to
broadcast one or more dipole signals measured at the utility
locator device 765 and to send and receive wireless communication
to and from the utility locator device 765, tracked distance
measuring device 775, transmitter device 790, and/or other system
devices. As described in the incorporated U.S. patent application
Ser. No. 15/866,360, filed Jan. 9, 2018, entitled TRACKED DISTANCE
MEASURING DEVICES, SYSTEMS, AND METHODS, the position of reference
point 750 of geographic feature 740 along the Earth's surface 720
may be calculated and used to generate a geographic update for the
base map 710 of the area. For instance, the base map 710 may
indicate a reference point 750a position for geographic feature
740a. Upon determining the updated reference point 750b position
for the geographic feature 740b, as determined with the utility
locating, mapping, and geographic feature identification system
700, the geographic feature 740b may be correlated to geographic
feature 740a within the base map 710. For instance, a photograph
and/or other image of geographic feature 740 may be generated upon
measuring the reference point 750b position through imagers on
smart phone 785, within tracked distance measuring device 775,
optical ground tracking device 766, utility locator device 765,
and/or other system device. The geographic feature 740 images may
be matched to that within base map 710 through pattern recognition
or other machine learning algorithms. A translation vector 760 may
be determined by finding the distance and direction from reference
point 750a on geographic feature 740a original described in base
map 710 to the measured reference point 750b on geographic feature
740b. Ann update may thereby be generated wherein all points within
the image tile 730a containing the geographic feature 740a may be
translated along translation vector 760 to the image tile 730b. In
some embodiments, the translated image tiles, such as image tile
730a, may instead be other feature regions. Rubber-sheeting and/or
other like techniques (not illustrated) may be used to distort the
boundaries of the image tile 730b or other feature regions allowing
the one or more translated image tiles 730b or other feature
regions to seamlessly adjoin with neighboring image tiles or other
feature regions while maintaining the positional accuracy of the
updated geographic features. Processing and storing of position and
other related map or other data may occur within the utility
locator device 765, GPS backpack device 780, transmitter device
790, tracked distance measuring device 775 and/or smartphone 785 or
other computing device, and/or may be processed and stored within a
remote server or other cloud based computing system. The utility
locator device 765 may also measure magnetic signal(s) 796 emitted
by one or more utility lines 795 for the purposes of determining
and mapping the one or more utilities 795 buried within the ground.
The utility locating and mapping data may include location and
orientation of the utility line as well as the pose of the utility
line within the ground, the depth of the utility line, utility
type, and the like. As illustrated in FIG. 7, the signal(s) 796 may
be generated by and be coupled to utility line 795 via transmitter
device 790. In some embodiments, the signals emitted by a buried
utility may be coupled thereto from various other active sources
(e.g., inherent within electric lines or coupled thereto by a
connected transmitting device) and/or passive sources (e.g.,
coupled to the utility through broadcast radio signals or like
ambient signal generating sources).
[0089] Turning to FIG. 8A, a method 800 is described for using
utility locating and mapping data to create a geographic update for
maps of the same area. In a first step 801, a utility locating and
mapping procedure is performed wherein one or more geographic
features are identified and the positions are determined via a
reference point on each geographic feature. Such systems and
methods for generating utility locating and mapping data as well as
geographic feature data may be found in the incorporated U.S.
patent application Ser. No. 15/866,360, filed Jan. 9, 2018,
entitled TRACKED DISTANCE MEASURING DEVICES, SYSTEMS, AND METHODS.
Exemplary systems and devices for carrying out step 801 may,
likewise, be described within the utility locating, mapping, and
geographic feature identification system 700 illustrated in FIG. 7.
For instance, a user equipped with a utility locator device, such
as the utility locator device 765 of FIG. 7, may walk about an area
and measure and map utility data. A user may also identify various
geographic features within the locate area. The user may be
equipped with a tracked distance measuring device, which may be a
tracked distance measuring device 775 as illustrated in FIG. 7, for
identifying and determining the position of a reference point on
one or more geographic features. In such a utility locating and
mapping operation, geographic features may generally be mapped to
identify elements within the locate area that may influence
magnetic data measured by the utility locator device. Optionally,
the utility locating, mapping, and geographic feature
identification system may photograph or otherwise generate imagery
of the one or more geographic features. Such geographic features
may further be found within a base map covering the same area in
order to update and refine the geographic location of the map
relative to the Earth's surface. Correlating of geographic features
within a base map to those identified during the utility locating
and mapping operation may include the use of pattern recognition or
other machine learning algorithms or like techniques and algorithms
to determine coinciding geographic features within the base map. In
a step 802, utility locating and geographic feature data gathered
in step 801 may be processed. The processing element or elements
for carrying out the data processing for step 802 may, in part or
in full, be included within a utility locator device (e.g., utility
locator device 765 of FIG. 7), tracked distance measuring device
(e.g., tracked distance measuring device 775 of FIG. 7), a
computing device such as a smartphone (e.g., smartphone 785 of FIG.
7) or laptop (e.g., computing device 665 of FIG. 6), and/or other
computing device or system device (e.g., system device 900 of FIG.
9) capable of receiving and processing the utility locating and
mapping data as well as geographic feature data. Likewise,
processing of data may occur within a remote server or other cloud
based computing system. The processing may occur in real time or
near real time and/or fully or partially occur in a post processing
procedure in one or more devices. In a step 803, differences in
reference point location(s) of each geographic feature from step
801 to one or more correlating geographic feature reference point
location(s) within the base map of the same area may be calculated
to determine one or more translation vectors for each geographic
feature update. In a step 804, the image tile(s) or other feature
region(s) containing the geographic feature within the base map may
be updated based the corresponding one or more translation vectors
from step 803. In a step 805, the utility locating and mapping data
may be indexed with the updated geographic feature position data
and/or otherwise within the updated base map. In a step 806,
rubber-sheeting and/or other like techniques may be used to distort
the boundaries of the image tile(s) or other feature region(s)
allowing the one or more translated image tiles to seamlessly
adjoin with neighboring image tiles or other feature regions while
maintaining the positional accuracy of the updated geographic
features. In a step 807, a geographic map update for the base map
may be determined using the method 300 of FIG. 3A or method 400 of
FIG. 4A. In some embodiments, the utility locating map imagery and
data, including the location of utility therein, may optionally be
merged into the base map. In a step 808, store and optionally
display the updated base map and/or utility locating map and
related data.
[0090] As illustrated in FIG. 8B, the utility locating map 820 may
be generated in which a number of geographic features 840, 842, and
844 positions are determined correlating to geographic features
840, 842, and 844 within a base map 810 of the same area. Utility
line locations and/or other related utility data, such as utility
line 825, may be included within the utility locating map 820.
Based on the geographic features 840, 842, and 844 positions within
the utility locating map 820, translation vectors 860, 862, and 864
may be determined to update image tiles 830 or other feature
regions. Rubber-sheeting and/or other like techniques (not
illustrated) may be used to distort the boundaries of the image
tiles 830 or, in other embodiments, other feature regions
containing geographic features 840, 842, and 844 allowing the one
or more translated image tiles 830 or other feature regions to
seamlessly adjoin with neighboring image tiles 830 or other feature
regions. The translation vectors 860, 862, and 864 may be analyzed
to determine a best fit in aligning the base map 810 with the
updated geographic feature 840, 842, and 844 positions. For
instance, simultaneous locating and mapping (SLAM) algorithms,
Kalman filters, neural network or like machine learning, bundle
adjustment algorithms, particle filtering algorithms, averaging,
scale invariant feature transform (SIFT), random sample consensus
(RANSAC), or the like algorithms or techniques may be applied to a
number of translation vectors, each having a magnitude and
direction, to determine a geographic update translation 870 for the
base map 810 position. Processing of data may occur within one or
more processing elements within one or more system devices. For
instance, computing devices may be included within a utility
locator device, smartphone, tablet, laptop, remote server or other
cloud based computer, tracked distance measuring device, and/or
various other utility locating devices or other computing
devices.
[0091] As illustrated in FIG. 9, an exemplary system device 900 may
include a transceiver element 910 for sending or receiving various
types of data. The transceiver element 910 may be or include WIFI,
Bluetooth, ISM, and/or other wireless modules or systems and
associated circuitry for wirelessly sending and receiving data. In
some embodiments the transceiver element 910 may include a wired
connection to send and receive such data. In further embodiments,
such as with a utility locator device, the transceiver element 910
may include antennas and circuitry to measure magnetic signals
emitted by utility lines and/or other conductors. The transceiver
element 910 may receive various types of data including geographic
feature identification and position data 920, utility locating and
mapping data 930, and base map data 940 which may further be
communicated to one or more processing elements 950 for generating
updated maps and correlating utility locating and mapping data
therewith. The processing element(s) 950 may be or may include a
single processor, or multiple processors, all of which could
include multiple computing elements. The processor elements(s) may
be implemented as one or more microprocessors, microcomputers,
microcontrollers, digital signal processors, central processing
units, state machines, logic circuitries, field-programmable gate
array (FGPA), and/or any devices that manipulate signals based on
operational instructions. Among other capabilities, the processor
element(s) may be configured to fetch and execute computer-readable
instructions and data stored in the memory, such as memory 960. In
some embodiments, base map data 940 may preemptively be stored
within memory 960 prior to receiving geographic feature
identification and position data 920 and/or utility locating and
mapping system data 930. The memory 960 may include any
computer-readable medium known in the art including, for example,
volatile memory, such as static random access memory (SRAM) and
dynamic random access memory (DRAM), and/or non-volatile memory,
such as read only memory (ROM), erasable programmable ROM, flash
memories, hard disks, optical disks, and magnetic tapes. Likewise,
such exemplary memory may be included in external data storage
element(s) 980 and/or other external device(s) 990 which may access
the data of system device 900. Optionally, system device 900 may
include a display 970 for displaying maps or other data to a user.
Likewise, such maps and associated data may be communicated to one
or more external devices 990 for display and use of such data.
[0092] In some geographic map updating embodiments of the present
disclosure, the image tiles or other feature regions of the base
map may translate to updated data positions while in other
embodiments the updated data may translate to the base map
positions. As used herein, "updated data" may refer to the data
relating to the updated geolocation of a geographic feature or
reference point that may differ to the corresponding geographic
feature or reference point in the base map. The embodiments wherein
the base map is translated to the updated data, such as illustrated
with FIG. 10A, an updated map may be generated having enhanced
accuracy. In other embodiments wherein the updated data is
translated to the base map, such as illustrated with FIG. 10B, the
resulting updated map may allow a user a visual sense of the
updated data locations relative to geographic features in the base
map without having to manipulate the base map. In such embodiments,
the translation of updated data may be visual only and metadata or
other data relating to the updated data may be preserved. For
instance, where the updated data includes utility positions in the
ground, the user may benefit from gaining a visual sense of the
utilities locations relative to known geographic features while the
world coordinates of the utilities may remain untranslated.
[0093] Turning to FIG. 10A, a base map 1020 may indicate an initial
location for a geographic feature 1022a with an initial reference
point 1024a in a feature region 1026a. The base map 1020 may
comprise a series of contiguous satellite or other aerial
photographs or image tiles seamlessly joined together or other
feature regions, such as feature region 1026a, that may represent
the Earth's surface. Updated data 1026b, including a revised a
geographic feature 1022b position measured at an updated reference
point 1024b, may be determined (e.g., through a utility locating
and mapping procedure or other mapping procedure). A translation
vector 1030 may be determined between the initial reference point
1024a position and the updated reference point 1024b position. The
feature region 1026a containing the geographic feature 1022a may
translate to the updated geographic feature 1022b location along
translation vector 1030. The resulting updated map may have
improved accuracy over the original base map.
[0094] Turning to FIG. 10B, a base map 1040 may indicate an initial
location for a geographic feature 1042a with an initial reference
point 1044a in a feature region 1046a. Updated data 1046b including
a geographic feature 1042b measured at an updated reference point
1044b may be determined. A translation vector 1050 may be
determined between the updated reference point 1044b position and
the initial reference point 1044a in the feature region 1046a of
the base map 1040. The updated data 1046b including the geographic
feature 1042b may translate along translation vector 1050 to the
geographic feature 1042a location. The translation of updated data
1046b to the original geographic feature 1042b of the base map 1040
may result in an updated map where a user may visually identify the
location of geographic features but other data of the updated data
1046b (e.g., utility line positions existing beneath the ground or
like data) may retain their original world coordinates. By
retaining their original coordinates, a user may visually be
informed of the updated data location relative to the geographic
features on the base map while having access to their precise
location through GPS or other world coordinate location data.
[0095] Turning to FIG. 11, an exemplary utility map 1100 is
illustrated estimative of utility line positions and locations
below the Earth's surface. The utility map 1100 may, for instance,
utilize the methods and systems disclosed in the incorporated U.S.
Provisional Patent Application 62/777,045, filed Dec. 7, 2018,
entitled MAP GENERATION BASED ON UTILITY LINE POSITION AND
ORIENTATION ESTIMATES, the content of which is incorporated by
reference herein in its entirety. In FIG. 11, the utility map 1100
may comprise a map 1110 of a geographical region containing a
series of line segments 1120. Each line segment 1120 may be
estimative of a utility line location at a point on the Earth's
surface as measured at a discrete point. In some such utility map
embodiments each segment, such as segments 1120, may be color coded
according to aspects of the geographic location associated with the
discrete point of utility line position and orientation estimation.
For instance, the selected color of each line segment 1120 may
reference measured signal strength, current, phase, a utility
position and orientation estimating device velocity, and/or depth
of utility. For example, the line segment length may be
proportional to data collection velocity and/or the opacity of each
line segment may correspond to a quality metric of the data.
Various other characteristics of each line segment may likewise be
altered to communicate information regarding the geographic
location associated with the discrete point of utility line
position and orientation estimation which may include details
regarding the utility line at that location. Line segment color or
saturation, line width or length, pattern or styling of line,
and/or opacity may all be changed to communicate such information.
In other utility map embodiments, the utility line positions and
orientations may be represented in various other ways.
[0096] The location and position of utility lines represented in a
utility map, such as segments 1120 of utility map 1100 in FIG. 11,
may be indexed to geographic features in the same utility map. In
some embodiments, utility line locations and positions may be
indexed in a base map in various ways. For instance, utility data
may be represented using the method 1200 of FIG. 12A or method 1300
of FIG. 13A or using the various other methods described herein
wherein the utility line position and other data may be indexed to
the base map or indexed to the geographic feature locations or the
updated data.
[0097] Turning to FIG. 12A, a method 1200 is disclosed having a
step 1202 in which a utility locating and mapping procedure is
performed wherein one or more geographic features are identified
and the positions are determined via a reference point on each
geographic feature. Such systems and methods for generating utility
locating and mapping data as well as geographic feature data may be
found in the incorporated U.S. patent application Ser. No.
15/866,360, filed Jan. 9, 2018, entitled TRACKED DISTANCE MEASURING
DEVICES, SYSTEMS, AND METHODS. Exemplary systems and devices for
carrying out step 1202 may, likewise, be described within the
utility locating, mapping, and geographic feature identification
system 700 illustrated in FIG. 7. For instance, a user equipped
with a utility locator device, such as the utility locator device
765 of FIG. 7, may walk about an area and measure and map utility
data. A user may also identify various geographic features within
the locate area. The user may be equipped with a tracked distance
measuring device, which may be a tracked distance measuring device
775 as illustrated in FIG. 7, for identifying and determining the
position of a reference point on one or more geographic features.
In such a utility locating and mapping operation, geographic
features may generally be mapped to identify elements within the
locate area that may influence magnetic data measured by the
utility locator device. Optionally, the utility locating, mapping,
and geographic feature identification system may photograph or
otherwise generate imagery of the one or more geographic features.
Such geographic features may further be found within a base map
covering the same area in order to update and refine the geographic
location of the map relative to the Earth's surface. Correlating of
geographic features within a base map to those identified during
the utility locating and mapping operation may include the use of
pattern recognition or other machine learning algorithms or like
techniques and algorithms to determine coinciding geographic
features within the base map. In a step 1204, utility locating and
geographic feature data gathered in step 1202 may be processed. The
processing element or elements for carrying out the data processing
for step 1204 may, in part or in full, be included within a utility
locator device (e.g., utility locator device 765 of FIG. 7),
tracked distance measuring device (e.g., tracked distance measuring
device 775 of FIG. 7), a computing device such as a smartphone
(e.g., smartphone 785 of FIG. 7) or laptop (e.g., computing device
665 of FIG. 6), and/or other computing device or system device
(e.g., system device 900 of FIG. 9) capable of receiving and
processing the utility locating and mapping data as well as
geographic feature data. Likewise, processing of data may occur
within a remote server or other cloud based computing system. The
processing may occur in real time or near real time and/or fully or
partially occur in a post processing procedure in one or more
devices. In a step 1206, translation vectors may be determined
based on differences in reference point positions of geographic
features in the base map to correlating reference point positions
measured in the utility locating and mapping procedure. In a step
1208, the image tiles or other feature regions containing the
geographic features of the base map may be translated according to
the translation vectors of step 1206. In a step 1210,
rubber-sheeting and/or other like techniques may be used to distort
the boundaries of the image tile(s) or other feature region(s)
allowing the one or more translated image tiles or feature regions
to seamlessly adjoin with neighboring image tiles or feature
regions while maintaining the positional accuracy of the updated
geographic features. In a step 1212, an updated utility map may be
stored or optionally displayed based on the translated features and
utility positions and related data. The method 1200 may be carried
out in post processing where the data has been stored in a database
or may be done in real time or near real time and displayed on a
locator display, laptop, smart phone, and/or other computing
device.
[0098] The translation of geographic features of a base map based
on updated geographic feature locations via utility locating and
mapping procedure data of method 1200 of FIG. 12A is further
illustrated in the sequence of FIGS. 12B-12E.
[0099] As illustrated in FIG. 12B, a base map 1220 may indicate an
initial location for a geographic feature 1222a with an initial
reference point 1224a in a feature region 1226a. The base map 1220
may comprise a series of contiguous satellite or other aerial
photographs or image tiles seamlessly joined together or other
feature regions, such as feature region 1226a, that may represent
the Earth's surface.
[0100] Turning to FIG. 12C, during a utility locating and mapping
procedure, updated data 1226b for a geographic feature 1222b with
an updated reference point 1224b is determined which may have
utility line positions and other utility data indexed thereto. The
utility line position and related utility data is represented by a
series of line segments 1230 in FIG. 12C.
[0101] Turning to FIG. 12D, a translation vector 1240 may be
determined between the initial reference point 1224a position and
the updated reference point 1224b position determined by the
utility locating and mapping procedure. The feature region 1226a
containing the geographic feature 1222a may translate to the
updated geographic feature 1222b location determined during the
utility locating and mapping procedure.
[0102] Turning to FIG. 12E, a utility map 1250 may be generated and
optionally displayed and/or stored based on the image of the
geographic feature 1222a translated to the updated geographic
feature 1222b location of updated data 1226b (illustrated as the
alignment of geographic feature 1222a/b in FIG. 12E). The utility
position and other utility data remaining in place according to its
determined location via the utility locating and mapping procedure.
The resulting utility map 1250 may provide for a map with improved
accuracy while displaying the utility positions.
[0103] Turning to FIG. 13A, a method 1300 is disclosed having a
step 1302 in which a utility locating and mapping procedure is
performed wherein one or more geographic features are identified
and the positions are determined via a reference point on each
geographic feature. Such systems and methods for generating utility
locating and mapping data as well as geographic feature data may be
found in the incorporated U.S. patent application Ser. No.
15/866,360, filed Jan. 9, 2018, entitled TRACKED DISTANCE MEASURING
DEVICES, SYSTEMS, AND METHODS. Exemplary systems and devices for
carrying out step 1302 may, likewise, be described within the
utility locating, mapping, and geographic feature identification
system 700 illustrated in FIG. 7. For instance, a user equipped
with a utility locator device, such as the utility locator device
765 of FIG. 7, may walk about an area and measure and map utility
data. A user may also identify various geographic features within
the locate area. The user may be equipped with a tracked distance
measuring device, which may be a tracked distance measuring device
775 as illustrated in FIG. 7, for identifying and determining the
position of a reference point on one or more geographic features.
In such a utility locating and mapping operation, geographic
features may generally be mapped to identify elements within the
locate area that may influence magnetic data measured by the
utility locator device. Optionally, the utility locating, mapping,
and geographic feature identification system may photograph or
otherwise generate imagery of the one or more geographic features.
Such geographic features may further be found within a base map
covering the same area in order to update and refine the geographic
location of the map relative to the Earth's surface. Correlating of
geographic features within a base map to those identified during
the utility locating and mapping operation may include the use of
pattern recognition or other machine learning algorithms or like
techniques and algorithms to determine coinciding geographic
features within the base map. In a step 1304, utility locating and
geographic feature data gathered in step 1302 may be processed. The
processing element or elements for carrying out the data processing
for step 1304 may, in part or in full, be included within a utility
locator device (e.g., utility locator device 765 of FIG. 7),
tracked distance measuring device (e.g., tracked distance measuring
device 775 of FIG. 7), a computing device such as a smartphone
(e.g., smartphone 785 of FIG. 7) or laptop (e.g., computing device
665 of FIG. 6), and/or other computing device or system device
(e.g., system device 900 of FIG. 9) capable of receiving and
processing the utility locating and mapping data as well as
geographic feature data. Likewise, processing of data may occur
within a remote server or other cloud based computing system. The
processing may occur in real time or near real time and/or fully or
partially occur in a post processing procedure in one or more
devices. In a step 1306, translation vectors may be determined
based on differences in reference point positions measured in the
utility locating and mapping procedure to correlating reference
point positions of geographic features in the base map. In a step
1308, the image tiles or other feature regions containing the
geographic features of the utility locating and mapping procedure
and indexed utility positions may be translated according to the
translation vectors of step 1306. In a step 1310, rubber-sheeting
and/or other like techniques may be used to distort the boundaries
of the image tile(s) or other feature region(s) allowing the one or
more translated image tiles or feature regions to seamlessly adjoin
with neighboring image tiles or feature regions while maintaining
the positional accuracy of the updated geographic features. In a
step 1312, an updated utility map may be stored or optionally
displayed based on the translated features and utility positions
and related data. The method 1300 may be carried out in post
processing where the data has been stored in a database or may be
done in real time or near real time and displayed on a locator
display, laptop, smart phone, and/or other computing device.
[0104] The translation of geographic features of a base map based
on updated geographic feature locations via utility locating and
mapping procedure data of method 1300 of FIG. 13A is further
illustrated in the sequence of FIGS. 13B-13E.
[0105] As illustrated in FIG. 13B, a base map 1320 may indicate an
initial location for a geographic feature 1322a with an initial
reference point 1324a in a feature region 1326a. The base map 1320
may comprise a series of contiguous satellite or other aerial
photographs or image tiles seamlessly joined together or other
feature regions, such as feature region 1326a, that may represent
the Earth's surface.
[0106] Turning to FIG. 13C, during a utility locating and mapping
procedure, updated data 1326b for a geographic feature 1322b with
an updated reference point 1324b is determined which may have
utility line positions and other utility data indexed thereto. The
utility line position and related utility data is represented by a
series of line segments 1330 in FIG. 13C.
[0107] Turning to FIG. 13D, a translation vector 1340 may be
determined between the updated reference point 1324b position
determined by the utility locating and mapping procedure and the
initial reference point 1324a in the feature region 1326a of the
base map 1320. The updated data 1326b including the geographic
feature 1322b and indexed line segments 1330 representative of
utility line positions may translate along translation vector 1340
to the geographic feature 1322a location.
[0108] Turning to FIG. 13E, a utility map 1350 may be generated and
optionally displayed and/or stored based on the image of the
updated geographic feature 1322b and indexed utility line positions
represented by line segments 1330 of updated data 1326b translated
to the initial geographic feature 1322a position (illustrated as
the alignment of geographic feature 1322a/b in FIG. 13E). In such
utility mapping embodiments, GPS or other geolocation data
associated with the updated data 1326b, including the line segments
1330 representative of utility line positions, may be preserved
when the image of the updated data 1326b is translated. The
translation of utility line data of the updated data 1326b to the
original geographic feature 1322a of the base map 1320 may result
in a utility map 1350 where a user may visually identify the
location of utility lines existing beneath the ground relative to
geographic features on the base map while the GPS or other world
coordinate location data of the utilities may be preserved.
[0109] Turning to FIG. 14A, a method 1400 is described for map
updating wherein the reference point exists in a physically
separate location from a geographic feature. In a first step 1402,
the position of a reference point is determined. For instance, the
position of the reference point may be established via GPS or other
global navigation satellite systems, LIDAR, inertial sensors, laser
rangefinding devices, and/or other positioning systems. In some
embodiments, such as in some embodiments employing utility locating
and mapping devices and systems which may include vehicle-mounted
locating devices and systems of U.S. patent application Ser. No.
15/497,040, filed Apr. 25, 2017, entitled SYSTEMS AND METHODS FOR
LOCATING AND/OR MAPPING BURIED UTILITIES USING VEHICLE-MOUNTED
LOCATING DEVICES of the incorporated applications, the reference
point may be established at intervals despite the known presence of
a geographic feature. In a step 1404, the position of a geographic
feature may be determined relative to the known position of the
reference point in the updated data. For instance, knowing the tilt
and scale of the updated data, the position of the geographic
feature relative to the reference point may be calculated. In a
step 1406, based on the position difference between the geographic
feature and reference point of the updated data, the predicted
position of a corresponding reference point in the base map may be
determined. For instance, the same direction and distance between
geographic feature and reference point of the updated data may be
scaled and applied to the base map to predict the location of the
reference point in the base map. In a step 1408, a translation
vector between the reference point position of the updated data and
the reference point of the base map is calculated. In some
embodiments, the translation vector may be calculated between
corresponding geographic features in the base map and updated data.
The translation vectors may run from base map to updated data or
from updated data to the base map depending on the desired
resulting map. In a step 1410, the image tile(s) or other feature
regions containing the geographic feature may be translated. In
some embodiments, the updated data may translate to align with the
base map. This may be a translation of all updated data or a
translation of just visual information wherein the world
coordinates and other metadata is preserved. For instance, a
utility locating procedure may translate visual data, including
utility positions, to corresponding locations of a pre-existing
base map, allowing for a readily generated map where a user may
visually identify the location of utility lines existing beneath
the ground relative to base map geographic features while the GPS
or other world coordinate location data of the utilities are
preserved. In other embodiments, the feature regions of the base
map may translate to the updated data. Such embodiments may result
in maps having improved accuracy. In a step 1412, rubber-sheeting
and/or other like techniques may be used to distort the boundaries
of the image tile(s) or other feature region(s) allowing the one or
more translated image tiles or feature regions to seamlessly adjoin
with neighboring image tiles or feature regions. In a step 1414, an
updated map and associated data may be stored or optionally
displayed.
[0110] The translation of geographic features of a base map based
on updated geographic feature locations using method 1400 of FIG.
14A is further illustrated in the sequence of FIGS. 14B-14E.
[0111] As illustrated in FIG. 14B, a base map 1420 may indicate an
initial location for a geographic feature 1422a in a feature region
1426a. The base map 1420 may comprise a series of contiguous
satellite or other aerial photographs or image tiles seamlessly
joined together or other feature regions, such as feature region
1426a, that may represent the Earth's surface.
[0112] Turning to FIG. 14C, updated data 1426b may be determined
wherein a reference point 1424b is established having known
position on the Earth's surface. For instance, a utility locating
and mapping device which may be a vehicle-mounted locating device
may periodically determine a precise location of a reference point
along the Earth's surface. The reference point 1424b may be a known
distance and direction towards a geographic feature 1422b in the
updated data 1426b. The updated geographic feature 1422b may
further correspond to a geographic feature 1422a of the base map
1420. Wherein the scale and tilt of the updated data 1426b is known
relative to the base map 1420, the known distance and direction
from the geographic feature 1422a may be used to predict the
location of a corresponding reference point 1424a in base map
1420.
[0113] Turning to FIG. 14D, a translation vector 1440 may be
determined between the predicted reference point 1424a position and
the updated reference point 1424b and/or between the base map 1420
geographic feature 1422a and the updated data 1426b geographic
feature 1422b allowing the feature region 1426a to translate to the
updated data 1426b position. In other embodiments, the translation
vectors 1440 may be reversed such that the updated data 1426b may
visually or fully translate to align to the predicted reference
point 1424a and geographic feature 1422a locations.
[0114] Turning to FIG. 14E, an updated map 1450 may be generated
and optionally displayed and/or stored based on the translation of
the feature region 1426a or, in other embodiments, the translation
of the updated data 1426b.
[0115] In one or more exemplary embodiments, the functions, methods
and processes described herein may be implemented in whole or in
part in hardware, software, firmware, or any combination thereof.
If implemented in software, the functions may be stored on or
encoded as one or more instructions or code on a non-transitory
processor-readable medium and may be executed in one or more
processing elements. Processor-readable media includes computer
storage media. Storage media may be any available media that can be
accessed by a computer, processor, or other programmable digital
device.
[0116] By way of example, and not limitation, such
computer-readable media can include RAM, ROM, EEPROM, CD-ROM or
other optical disk storage, magnetic disk storage or other magnetic
storage devices, or any other medium that can be used to carry or
store desired program code in the form of instructions or data
structures and that can be accessed by a computer. Disk and disc,
as used herein, includes compact disc (CD), laser disc, optical
disc, digital versatile disc (DVD), floppy disk and Blu-ray disc
where disks usually reproduce data magnetically, while discs
reproduce data optically with lasers. Combinations of the above
should also be included within the scope of computer-readable
media.
[0117] It is understood that the specific order or hierarchy of
steps or stages in the processes and methods disclosed are examples
of exemplary approaches. Based upon design preferences, it is
understood that the specific order or hierarchy of steps in the
processes may be rearranged while remaining within the scope of the
present disclosure. Any method claims may present elements of the
various steps in a sample order, and are not meant to be limited to
the specific order or hierarchy presented unless explicitly
noted.
[0118] Those of skill in the art would understand that information
and signals may be represented using any of a variety of different
technologies and techniques. For example, data, instructions,
commands, information, signals, bits, symbols, and chips that may
be referenced throughout the above description may be represented
by voltages, currents, electromagnetic waves, magnetic fields or
particles, optical fields or particles, or any combination
thereof.
[0119] Those of skill would further appreciate that the various
illustrative logical blocks, modules, circuits, and algorithm steps
described in connection with the embodiments disclosed herein may
be implemented as electronic hardware, computer software, or
combinations of both. To clearly illustrate this interchangeability
of hardware and software, various illustrative components, blocks,
modules, circuits, and steps may have been described above
generally in terms of their functionality. Whether such
functionality is implemented as hardware or software depends upon
the particular application and design constraints imposed on the
overall system. Skilled artisans may implement the described
functionality in varying ways for each particular application, but
such implementation decisions should not be interpreted as causing
a departure from the scope of the disclosure.
[0120] The various illustrative logical blocks, modules, processes,
methods, and/or circuits described in connection with the
embodiments disclosed herein may be implemented or performed in a
processing element with a general purpose processor, a digital
signal processor (DSP), an application specific integrated circuit
(ASIC), a field programmable gate array (FPGA) or other
programmable logic device, discrete gate or transistor logic,
discrete hardware components, or any combination thereof designed
to perform the functions described herein. A general purpose
processor may be a microprocessor, but in the alternative, the
processor may be any conventional processor, controller,
microcontroller, or state machine. A processor may also be
implemented as a combination of computing devices, e.g., a
combination of a DSP and a microprocessor, a plurality of
microprocessors, one or more microprocessors in conjunction with a
DSP core, or any other such configuration.
[0121] The steps or stages of a method, process or algorithm
described in connection with the embodiments disclosed herein may
be embodied directly in hardware, in a software module executed by
a processor, or in a combination of the two. A software module may
reside in RAM memory, flash memory, ROM memory, EPROM memory,
EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or
any other form of storage medium known in the art. An exemplary
storage medium is coupled to the processor such that the processor
can read information from, and write information to, the storage
medium. In the alternative, the storage medium may be integral to
the processor. The processor and the storage medium may reside in
an ASIC. The ASIC may reside in a user terminal or other device. In
the alternative, the processor and the storage medium may reside as
discrete components. Instructions to be read and executed by a
processing element to implement the various methods, processes, and
algorithms disclosed herein may be stored in a memory or memories
of the devices disclosed herein.
[0122] The scope of the invention is not intended to be limited to
the aspects shown herein, but is to be accorded the full scope
consistent with the disclosures herein and their equivalents,
wherein reference to an element in the singular is not intended to
mean "one and only one" unless specifically so stated, but rather
"one or more." Unless specifically stated otherwise, the term
"some" refers to one or more. A phrase referring to "at least one
of" a list of items refers to any combination of those items,
including single members. As an example, "at least one of: a, b, or
c" is intended to cover: a; b; c; a and b; a and c; b and c; and a,
b and c.
[0123] It is noted that as used herein that the terms "component,"
"unit," "element," or other singular terms may refer to two or more
of those members. For example, a "component" may comprise multiple
components. Moreover, the terms "component," "unit," "element," or
other descriptive terms may be used to describe a general feature
or function of a group of components, units, elements, or other
items. For example, an "RFID unit" may refer to the primary
function of the unit, but the physical unit may include non-RFID
components, sub-units, and such.
[0124] The previous description of the disclosed aspects is
provided to enable any person skilled in the art to make or use
embodiments of the presently claimed invention. Various
modifications to these aspects will be readily apparent to those
skilled in the art, and the generic principles defined herein may
be applied to other aspects without departing from the spirit or
scope of the disclosure. Thus, the presently claimed invention is
not intended to be limited solely to the aspects shown herein but
is to be accorded the widest scope consistent with the disclosures
herein, the associated drawings, and their equivalents as reflected
by the claims.
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